Arducopter: WP_radius

Switching to stored WP_radius in meters, just like Arduplane

ArduCopter/ArduCopter.pde

@@ -1980,7 +1980,7 @@ static void update_navigation()
 static void update_nav_RTL()
 {
 	// Have we have reached Home?
-	if(wp_distance <= g.waypoint_radius){
+	if(wp_distance <= (g.waypoint_radius * 100)){
 		// if loiter_timer value > 0, we are set to trigger auto_land or approach
 		set_mode(LOITER);
 

ArduCopter/commands_logic.pde

@@ -454,7 +454,7 @@ static bool verify_nav_wp()
 	}
 
 	// Did we pass the WP?	// Distance checking
-	if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
+	if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){
 
 		// if we have a distance calc error, wp_distance may be less than 0
 		if(wp_distance > 0){
@@ -505,7 +505,7 @@ static bool verify_loiter_time()
 			return true;
 		}
 	}
-	if(wp_control == WP_MODE &&  wp_distance <= g.waypoint_radius){
+	if(wp_control == WP_MODE &&  wp_distance <= (g.waypoint_radius * 100)){
 		// reset our loiter time
 		loiter_time = millis();
 		// switch to position hold
@@ -534,7 +534,7 @@ static bool verify_RTL()
 	wp_control 	= WP_MODE;
 
 	// Did we pass the WP?	// Distance checking
-	if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
+	if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){
 		wp_control 	= LOITER_MODE;
 
 		//gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));

ArduCopter/navigation.pde

@@ -257,7 +257,7 @@ static int16_t calc_desired_speed(int16_t max_speed, bool _slow)
 	// limit the ramp up of the speed
 	// waypoint_speed_gov is reset to 0 at each new WP command
 	if(max_speed > waypoint_speed_gov){
-		waypoint_speed_gov += (int)(200.0 * dTnav); // increase at .5/ms
+		waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
 		max_speed = waypoint_speed_gov;
 	}