From a98fb174c48cd2fc6beee906ff9c9ec139aa1ef3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 16 Nov 2013 14:55:49 +0900
Subject: [PATCH] Copter: batt failsafe triggers RTL from AUTO
---
ArduCopter/events.pde | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 58cf2fdd4..b63393ba7 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -110,6 +110,16 @@ static void failsafe_battery_event(void)
}
}
break;
+ case AUTO:
+ // set mode to RTL or LAND
+ if (home_distance > wp_nav.get_waypoint_radius()) {
+ if (!set_mode(RTL)) {
+ set_mode(LAND);
+ }
+ }else{
+ set_mode(LAND);
+ }
+ break;
default:
// set mode to RTL or LAND
if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_waypoint_radius()) {
--
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