aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: simplify guided mode takeoff using rangefinder

Browse Source
This commit is contained in:
Randy Mackay 2020-04-22 14:31:09 +09:00
parent 29dcbd1398
commit dcbbd047b4
1 changed files with 2 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/mode_guided.cpp
View File

@ -384,18 +384,8 @@ void ModeGuided::takeoff_run()
copter.landinggear.retract_after_takeoff();
// switch to position control mode but maintain current target
Location dest_loc(wp_nav->get_wp_destination());
Location::AltFrame frame = wp_nav->origin_and_destination_are_terrain_alt()
? Location::AltFrame::ABOVE_TERRAIN
: Location::AltFrame::ABOVE_HOME;
int32_t target_alt_cm;
if (dest_loc.get_alt_cm(frame, target_alt_cm)) {
dest_loc.set_alt_cm(target_alt_cm, frame);
set_destination(dest_loc);
} else {
const Vector3f& target = wp_nav->get_wp_destination();
set_destination(target);
}
const Vector3f target = wp_nav->get_wp_destination();
set_destination(target, false, 0, false, 0, false, wp_nav->origin_and_destination_are_terrain_alt());
}
}