mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 15:03:34 +08:00
Knut Hjorth
fbc80c9bf5
* rtl: remove unconditional transition to land after descent This was a bug, as it renders the above code lines useless. This would cause a undesired FW landing for VTOL vehicles if RTL_LAND_DELAY is above 0. * rtl: head to center after loiter in VTOL FW To get the same behavior for RTL with and without loiter before land for VTOL drones. * rtl: always go to descend state after return Previously, the state would change directly to land if in MR and RTL_LAND_DELAY was 0.0, but we will still wish to descent to RTL_DESCEND_ALT at descent speed, instead of using landing speeds. * rtl: mark head to center state as part of vtol transition The next step in the sequence is transition to MC. By setting vtol_back_transition we ensure that the acceptance radius is adapted to the expected transition distance.