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better return altitude initialisation

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This commit is contained in:
thomas
2022-10-04 17:44:25 +02:00
committed by Silvan Fuhrer
parent f771c7ff63
commit bf98503dec
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/rtl.cpp
+3 -1
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@@ -228,7 +228,9 @@ void RTL::find_RTL_destination()
}
}
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_param_rtl_cone_half_angle_deg.get() > 0.0
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_navigator->get_vstatus()->in_transition_to_fw) {
_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
} else {