diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 66e9cdfdc883099b0a9b788b7ac0156d9e77fe1f..139326c7644b762901de0b4d6d11e4d2caf2d586 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -69,6 +69,5 @@ //#define LOGGING_ENABLED DISABLED -#define LOITER_REPOSITIONING DISABLED // Experimental Do Not Use +// #define LOITER_REPOSITIONING ENABLED // Experimental Do Not Use // #define LOITER_RP ROLL_PITCH_LOITER_PR - diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 794f38bc9d3dd26a511362ededc57480097a4a29..c361773ffba1d1ec38e6469f694f87f2640bba25 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -658,7 +658,7 @@ -// LOITER Mode +// Optical Flow LOITER Mode #ifndef OF_LOITER_YAW # define OF_LOITER_YAW YAW_HOLD #endif @@ -830,6 +830,11 @@ #ifndef LOITER_IMAX # define LOITER_IMAX 30 // degrees #endif + +// Loiter repositioning configuration (experimental) +#ifndef LOITER_REPOSITIONING + # define LOITER_REPOSITIONING DISABLED +#endif #ifndef LOITER_REPOSITION_RATE # define LOITER_REPOSITION_RATE 500.0 // cm/s #endif