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rtl: fixed computation of return altitude when mission landing is available

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2020-10-23 10:33:19 +03:00
committed by Lorenz Meier
parent 12875f7869
commit 94d3ab28ee
1 changed files with 2 additions and 1 deletions
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src/modules/navigator/rtl.cpp
+2 -1
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@@ -218,7 +218,8 @@ void RTL::on_activation()
_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 { } else {
_rtl_alt = math::max(global_position.alt, _destination.alt + _param_rtl_return_alt.get()); _rtl_alt = max(global_position.alt, max(_destination.alt,
_navigator->get_home_position()->alt + _param_rtl_return_alt.get()));
} }
if (_navigator->get_land_detected()->landed) { if (_navigator->get_land_detected()->landed) {