fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 18:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rally Points: enable rally points always, except for RTL type == RTL_MISSION

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-11-22 08:18:25 +01:00
committed by Beat Küng
parent 5aaf1b100b
commit 5b235c34c2
3 changed files with 15 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl_params.c
+5 -6
View File
@@ -107,13 +107,12 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
/**
* Return type
*
* Fly straight to the return location or planned mission landing and land there or
* use the planned mission to get to those points.
* Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
*
* @value 0 Return home via direct path
* @value 1 Return to a planned mission landing, if available, via direct path, else return to home via direct path
* @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path
* @value 3 Return via direct path to closest destination: home, mission landing pattern or safe point
* @value 0 Return to closest safe point (home or rally point) via direct path.
* @value 1 Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path.
* @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
* @value 3 Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_TYPE, 0);