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RTH: Better RTH safety. Prevent RTH from activating on airplanes if close to home. Initiate a land on multirotors when close to home.

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-03-24 11:15:00 +10:00
parent 517c958d17
commit 6d12c38b6c
2 changed files with 58 additions and 40 deletions
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src/main/flight/navigation_rewrite_private.h
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@ -126,6 +126,7 @@ typedef enum {
NAV_FSM_EVENT_STATE_SPECIFIC, // State-specific event
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC,
NAV_FSM_EVENT_SWITCH_TO_RTH_3D_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC,
NAV_FSM_EVENT_SWITCH_TO_IDLE,
NAV_FSM_EVENT_SWITCH_TO_ALTHOLD,