From 570624f5c81f5d1cbb799f4b2e9e4e873c7d709c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 15 Jan 2013 12:13:04 +0900
Subject: [PATCH] Copter: RTL bug fix to initial step is always a climb and not
a descent
Also bug fix to hold yaw on take-off
---
ArduCopter/commands_logic.pde | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 51d80d5f3..bc4a4739a 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -229,7 +229,7 @@ static void do_RTL(void)
wp_control = LOITER_MODE;
// initial climb starts at current location
- next_WP = current_loc;
+ set_next_WP(¤t_loc);
// override altitude to RTL altitude
set_new_altitude(get_RTL_alt());
@@ -250,11 +250,14 @@ static void do_takeoff()
// alt is always relative
temp.alt = command_nav_queue.alt;
- // prevent flips
- reset_I_all();
-
// Set our waypoint
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
@@ -476,7 +479,7 @@ static bool verify_RTL()
case RTL_STATE_INITIAL_CLIMB:
// 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_next_WP(&home);
--
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