aepko/Ardupilot2
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Copter: RTL bug fix to initial step is always a climb and not a descent

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Also bug fix to hold yaw on take-off
This commit is contained in:
Randy Mackay 2013-01-15 12:13:04 +09:00 committed by rmackay9
parent 2dab40abeb
commit ccaa7a52ef
1 changed files with 8 additions and 5 deletions
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13
ArduCopter/commands_logic.pde
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@ -229,7 +229,7 @@ static void do_RTL(void)
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
// initial climb starts at current location // initial climb starts at current location
next_WP = current_loc; set_next_WP(&current_loc);
// override altitude to RTL altitude // override altitude to RTL altitude
set_new_altitude(get_RTL_alt()); set_new_altitude(get_RTL_alt());
@ -250,11 +250,14 @@ static void do_takeoff()
// alt is always relative // alt is always relative
temp.alt = command_nav_queue.alt; temp.alt = command_nav_queue.alt;
// prevent flips
reset_I_all();
// Set our waypoint // Set our waypoint
set_next_WP(&temp); set_next_WP(&temp);
// set our yaw mode
set_yaw_mode(YAW_HOLD);
// prevent flips
reset_I_all();
} }
// do_nav_wp - initiate move to next waypoint // do_nav_wp - initiate move to next waypoint
@ -476,7 +479,7 @@ static bool verify_RTL()
case RTL_STATE_INITIAL_CLIMB: case RTL_STATE_INITIAL_CLIMB:
// rely on verify_altitude function to update alt_change_flag when we've reached the target // rely on verify_altitude function to update alt_change_flag when we've reached the target
if(alt_change_flag == REACHED_ALT) { if(alt_change_flag == REACHED_ALT || alt_change_flag == DESCENDING) {
// Set navigation target to home // Set navigation target to home
set_next_WP(&home); set_next_WP(&home);