Voila je voudrai s'avoir comment bien régler les lignes dans arduino pour un retour home a une altitude 6 m et qu'il se pose seul.
Car je cherche mais il reste a 6m et attend
...Merci a vous
Code : Tout sélectionner
// if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define GPS_WP_RADIUS 100 //(**)
// Safe WP distance, do not start mission if the first wp distance is larger than this number (in meters)
// Also aborts mission if the next waypoint distance is more than this number
#define SAFE_WP_DISTANCE 500 //(**)
//Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
#define MAX_NAV_ALTITUDE 15 //(**)
// minimum speed when approach waypoint
#define NAV_SPEED_MIN 100 // cm/sec //(**)
// maximum speed to reach between waypoints
#define NAV_SPEED_MAX 300 // cm/sec //(**)
// Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
#define NAV_SLOW_NAV 0 //(**)
// Weight factor of the crosstrack error in navigation calculations (do not touch)
#define CROSSTRACK_GAIN .4 //(**)
// Maximum allowable banking than navigation outputs
#define NAV_BANK_MAX 3000 //(**)
//Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
#define RTH_ALTITUDE 6 //(**)
//Wait to reach RTH alt before start moving to home (0-no, 1-yes)
#define WAIT_FOR_RTH_ALT 1 //(**)
//Navigation engine will takeover BARO mode control
#define NAV_TAKEOVER_BARO 1 //(**)
//Throttle stick input will be ignored (only in BARO)
#define IGNORE_THROTTLE 1 //(**)
//If FENCE DISTANCE is larger than 0 then copter will switch to RTH when it farther from home
//than the defined number in meters
#define FENCE_DISTANCE 300
//This governs the descent speed during landing. 100 is equals approc 50cm/sec
#define LAND_SPEED 100
