From 4018c34930ea9384dba6b62f8e3351f727551e25 Mon Sep 17 00:00:00 2001
From: zbr <zbr3550@sina.com>
Date: Fri, 17 Sep 2021 15:41:41 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E5=85=88=E4=B8=8D=E7=94=A8Lo?=
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---
 ArduCopter/UserCode.cpp  | 4 ++++
 ArduCopter/zr_flight.cpp | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index ae38a016c8..6f3d4bab8b 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -57,6 +57,10 @@ if(avoid.get_zr_mode() > 0 && (control_mode == Mode::Number::AUTO || control_mod
     if(far_from_home){
         enable_avoid = true;
     }
+}else if(control_mode == Mode::Number::LOITER && !avoid.get_avoid_action() ){
+    if(far_from_home){
+        enable_avoid = true;
+    }
 }
 if(last_flag != enable_avoid){
     if(enable_avoid){
diff --git a/ArduCopter/zr_flight.cpp b/ArduCopter/zr_flight.cpp
index 074e52f3b4..e6ce443f24 100644
--- a/ArduCopter/zr_flight.cpp
+++ b/ArduCopter/zr_flight.cpp
@@ -317,7 +317,7 @@ void Copter::avoid_action(uint8_t area,uint8_t state,float dist)
                 gcs().send_text(MAV_SEVERITY_INFO,"NOTICE:人为控制，已离开障碍");
             }
             if(tnow - rtl_wait_time > (uint32_t)(g.zr_avd_wait * 1000)){
-                if(avoid.get_zr_mode() == 1){ 
+                if(avoid.get_zr_mode() == 2){ 
                     action = PROXY_WAIT;
                     gcs().send_text(MAV_SEVERITY_INFO,"NOTICE:等待超时，原地降落");
                     set_mode(Mode::Number::LAND,ModeReason::AVOIDANCE);