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Code Issues Wiki Activity

Correct RTH initial climb end condition.

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This commit is contained in:
Krzysztof Matula 2017-10-18 19:14:27 +02:00
parent 38a765e076
commit 3e7c6de226
1 changed files with 2 additions and 2 deletions
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4
src/main/navigation/navigation.c
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@ -861,8 +861,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
// If we have valid pos sensor OR we are configured to ignore GPS loss
if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
const float rthAltitudeMargin = STATE(FIXED_WING) ?
MIN(100.0f, 0.10f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)) : // Airplane: 10% of target altitude but no less than 1m
MIN( 50.0f, 0.05f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)); // Copters: 5% of target altitude but no less than 50cm
MAX(100.0f, 0.10f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)) : // Airplane: 10% of target altitude but no less than 1m
MAX( 50.0f, 0.05f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)); // Copters: 5% of target altitude but no less than 50cm
if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -rthAltitudeMargin) || (!navConfig()->general.flags.rth_climb_first)) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance