Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-19 22:35:19 +03:00
Code Issues Wiki Activity

Update navigation.c

Browse source
This commit is contained in:
hali9 2019-12-03 21:00:01 +01:00 • committed by GitHub
parent 62d0c42cb5
commit a3c4ae2a34
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/navigation/navigation.c
View file

@ -2084,7 +2084,8 @@ float getFinalRTHAltitude(void)
static void updateDesiredRTHAltitude(void)
{
if (ARMING_FLAG(ARMED)) {
if (!(navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)) {
if (!((navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)
|| ((navGetStateFlags(posControl.navState) & NAV_AUTO_WP) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_RTH))) {
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;