From 56a00fa1f7b4b9e799d24507d88af6334ceef906 Mon Sep 17 00:00:00 2001 From: Adam M Rivera Date: Mon, 16 Apr 2012 14:04:30 -0500 Subject: [PATCH] ArduCopter: Changed millis compare to use new config value for approach delay. --- ArduCopter/ArduCopter.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 6e480a5bfd..cff883adfc 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1814,8 +1814,8 @@ static void update_navigation() wp_control = LOITER_MODE; } - // If we have a safe approach alt set and we have been loitering for 20 seconds, begin approach - if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > 20000){ + // If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach + if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > (RTL_APPROACH_DELAY * 1000)){ // just to make sure we clear the timer loiter_timer = 0; set_mode(APPROACH);