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Merge pull request #7447 from MrD-RC/let-max-rth-mode-consider-altitude

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Let MAX RTH mode consider RTH altitude
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Paweł Spychalski 2022-01-09 16:14:25 +01:00 • committed by GitHub
commit 6f52733afc
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src/main/navigation/navigation.c
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@ -2175,6 +2175,9 @@ static void updateDesiredRTHAltitude(void)
case NAV_RTH_MAX_ALT:
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.actualState.abs.pos.z);
if (navConfig()->general.rth_altitude > 0) {
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude);
}
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;