fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/navigator/rtl.cpp
View File

@ -202,7 +202,12 @@ void RTL::on_activation()
const vehicle_global_position_s &global_position = *_navigator->get_global_position();
_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
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());
} else {
_rtl_alt = math::max(global_position.alt, _destination.alt + _param_rtl_return_alt.get());
}
if (_navigator->get_land_detected()->landed) {
// For safety reasons don't go into RTL if landed.