From e34702f5245c87e7d7ef138ddd2ee0b3fb07b0fc Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 15 Jul 2013 20:44:18 +0900
Subject: [PATCH] Copter: bug fix for descent during loiter_turns
---
ArduCopter/navigation.pde | 1 +
1 file changed, 1 insertion(+)
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 7a984bc8e..19ee14b13 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -287,6 +287,7 @@ update_circle(float dt)
// calculate target position
circle_target.x = circle_center.x + cir_radius * cosf(-circle_angle);
circle_target.y = circle_center.y - cir_radius * sinf(-circle_angle);
+ circle_target.z = wp_nav.get_desired_alt();
// re-use loiter position controller
wp_nav.set_loiter_target(circle_target);
--
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