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rtl: do not use cone logic for vehicle flying as fixed wing

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2020-06-19 14:15:42 +03:00
committed by Daniel Agar
parent 620916e4c1
commit 120f188ada
1 changed files with 6 additions and 1 deletions
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src/modules/navigator/rtl.cpp
+5
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@@ -202,8 +202,13 @@ void RTL::on_activation()
const vehicle_global_position_s &global_position = *_navigator->get_global_position(); const vehicle_global_position_s &global_position = *_navigator->get_global_position();
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get()); _rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
} else {
_rtl_alt = math::max(global_position.alt, _destination.alt + _param_rtl_return_alt.get());
}
if (_navigator->get_land_detected()->landed) { if (_navigator->get_land_detected()->landed) {
// For safety reasons don't go into RTL if landed. // For safety reasons don't go into RTL if landed.
_rtl_state = RTL_STATE_LANDED; _rtl_state = RTL_STATE_LANDED;