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Compute RTL time and react if lower than flight time

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- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
This commit is contained in:
Matthias Grob
2021-11-24 14:10:24 +01:00
parent 5489005e0b
commit c522a8b15a
9 changed files with 324 additions and 148 deletions
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msg/rtl_time_estimate.msg
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uint64 timestamp # time since system start (microseconds)
bool valid # Flag indicating whether the time estiamtes are valid
float32 time_estimate # [s] Estimated time for RTL
float32 safe_time_estimate # [s] Same as time_estimate, but with safety factor and safety margin included (factor*t + margin)