Copter: deploy gear during mission RTL descent

ArduPilot · May 27, 2015 · 1706379 · 1706379
1 parent 8454246
commit 1706379
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/ArduCopter/landing_gear.pde b/ArduCopter/landing_gear.pde
@@ -11,9 +11,12 @@ static void landinggear_update(){
 
         // if we are doing an automatic landing procedure, force the landing gear to deploy.
         // To-Do: should we pause the auto-land procedure to give time for gear to come down?
-        if (control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
+        if (control_mode == LAND ||
+           (control_mode==RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
+           (control_mode == AUTO && auto_mode == Auto_Land) ||
+           (control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
             landinggear.force_deploy(true);
-        }            
+        }
 
         landinggear.update();