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Copter: integrate change in AC_Circle init

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Removed init_loiter_target when vehicle landed.  We should add some
initialisation of the circle controller when landed.
This commit is contained in:
Randy Mackay 2014-04-16 16:21:30 +09:00
parent 94d38ee294
commit f6676be400
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_circle.pde
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@ -4,12 +4,12 @@
* control_circle.pde - init and run calls for circle flight mode
*/
// circle_init - initialise circle controller
// circle_init - initialise circle controller flight mode
static bool circle_init(bool ignore_checks)
{
if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) {
circle_pilot_yaw_override = false;
circle_nav.init_center();
circle_nav.init();
return true;
}else{
return false;
@ -25,7 +25,7 @@ static void circle_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete) {
wp_nav.init_loiter_target();
// To-Do: add some initialisation of position controllers
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;