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Bug fix

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Multiple RTH and early exit from RTH fixed. Message would only be displayed for first RTH.
This commit is contained in:
Darren Lines 2023-11-07 08:13:35 +00:00
parent a47afe2187
commit 62d78ae7c2
2 changed files with 7 additions and 4 deletions
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5
src/main/navigation/navigation.c
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@ -1227,6 +1227,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
{
UNUSED(previousState);
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
// Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
// Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailable.
@ -1444,7 +1447,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
// Successfully reached position target - update XYZ-position
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
if (navConfig()->general.flags.rth_use_linear_descent)
if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
posControl.rthState.rthLinearDescentActive = false;
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING