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https://github.com/ArduPilot/ardupilot.git
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f3bca4d3ff
this fixes several places that set the alt field directly. The only one that is a real bug is in CIRCLE where if we were terrain following and change into CIRCLE mode we would climb to current alt + home alt
24 lines
576 B
C++
24 lines
576 B
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeCircle::_enter()
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{
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// the altitude to circle at is taken from the current altitude
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plane.next_WP_loc = plane.current_loc;
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return true;
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}
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void ModeCircle::update()
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{
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// we have no GPS installed and have lost radio contact
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// or we just want to fly around in a gentle circle w/o GPS,
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// holding altitude at the altitude we set when we
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// switched into the mode
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plane.nav_roll_cd = plane.roll_limit_cd / 3;
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plane.update_load_factor();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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