fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 17:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

RTL: change when to set a heading setpoint, generally leave it up to the executer

Browse Source 
-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-13 10:34:57 +01:00
committed by Matthias Grob
parent dce53a626e
commit b19e35ec7c
5 changed files with 36 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl_params.c
-12
View File
@@ -160,18 +160,6 @@ PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
*/
PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 80.0f);
/**
* RTL heading mode
*
* Defines the heading behavior during RTL
*
* @value 0 Towards next waypoint.
* @value 1 Heading matches destination.
* @value 2 Use current heading.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_HDG_MD, 0);
/**
* RTL time estimate safety margin factor
*