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@ -713,6 +713,10 @@ bool Plane::verify_loiter_turns(const AP_Mission::Mission_Command &cmd)
@@ -713,6 +713,10 @@ bool Plane::verify_loiter_turns(const AP_Mission::Mission_Command &cmd)
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{ |
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bool result = false; |
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uint16_t radius = HIGHBYTE(cmd.p1); |
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if (cmd.type_specific_bits & (1U<<0)) { |
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// special storage handling allows for larger radii
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radius *= 10; |
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} |
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update_loiter(radius); |
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// LOITER_TURNS makes no sense as VTOL
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