add Cli.md description for rth home offsets

docs/Cli.md

@@ -200,6 +200,8 @@ A shorter form is also supported to enable and disable functions using `serial <
 |  nav_rth_altitude  | 1000 | Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters) |
 |  nav_rth_home_altitude  | 0 | Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm] |
 |  nav_rth_abort_threshold  | 50000 | RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm] |
+|  nav_rth_home_offset_distance  | 0 | Distance offset from GPS established home to "safe" position used for RTH (metre, 0 disables) |
+|  nav_rth_home_offset_direction | 0 | Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance) |
 |  nav_mc_bank_angle  | 30 | Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude |
 |  nav_mc_hover_thr  | 1500 | Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering. |
 |  nav_mc_auto_disarm_delay  | 2000 |  |

src/main/fc/settings.yaml

@@ -1448,6 +1448,7 @@ groups:
       - name: nav_rth_home_offset_direction
         field: general.rth_home_offset_direction
         max: 359
+
       - name: nav_mc_bank_angle
         field: mc.max_bank_angle
         min: 15

src/main/navigation/navigation.c

@@ -56,6 +56,7 @@
 #include "sensors/acceleration.h"
 #include "sensors/boardalignment.h"
 
+
 // Multirotors:
 #define MR_RTH_CLIMB_OVERSHOOT_CM   100  // target this amount of cm *above* the target altitude to ensure it is actually reached (Vz > 0 at target alt)
 #define MR_RTH_CLIMB_MARGIN_MIN_CM  100  // start cruising home this amount of cm *before* reaching the cruise altitude (while continuing the ascend)
@@ -2221,7 +2222,6 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
 /*-----------------------------------------------------------
  * Update home position, calculate distance and bearing to home
  *-----------------------------------------------------------*/
-
 void updateHomePosition(void)
 {
     // Disarmed and have a valid position, constantly update home
@@ -2566,7 +2566,6 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
     // WP #0 - special waypoint - HOME
     if ((wpNumber == 0) && ARMING_FLAG(ARMED) && (posControl.flags.estPosStatus >= EST_USABLE) && posControl.gpsOrigin.valid && posControl.flags.isGCSAssistedNavigationEnabled) {
         // Forcibly set home position. Note that this is only valid if already armed, otherwise home will be reset instantly
-
         geoConvertGeodeticToLocal(&wpPos.pos, &posControl.gpsOrigin, &wpLLH, GEO_ALT_RELATIVE);
         setHomePosition(&wpPos.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
     }