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RTL: Keep only the selected RTL type in memory.

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This commit is contained in:
Konrad
2023-08-16 14:35:40 +02:00
committed by Silvan Fuhrer
parent d4ea106f9e
commit 5c021d8fa4
11 changed files with 192 additions and 97 deletions
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src/modules/navigator/rtl_direct.cpp
+2 -2
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@@ -74,7 +74,7 @@ void RtlDirect::on_inactivation()
}
}
void RtlDirect::on_activation(bool enforce_rtl_alt)
void RtlDirect::on_activation()
{
_global_pos_sub.update();
_local_pos_sub.update();
@@ -87,7 +87,7 @@ void RtlDirect::on_activation(bool enforce_rtl_alt)
// For safety reasons don't go into RTL if landed.
_rtl_state = RTL_STATE_LANDED;
} else if ((_global_pos_sub.get().alt < _destination.alt + _param_rtl_return_alt.get()) || enforce_rtl_alt) {
} else if ((_global_pos_sub.get().alt < _destination.alt + _param_rtl_return_alt.get()) || _enforce_rtl_alt) {
// If lower than return altitude, climb up first.
// If rtl_alt_min is true then forcing altitude change even if above.