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Update navigation.c

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hali9 2019-12-03 21:00:01 +01:00 • committed by GitHub
parent 62d0c42cb5
commit a3c4ae2a34
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1 changed files with 2 additions and 1 deletions
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src/main/navigation/navigation.c
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@ -2084,7 +2084,8 @@ float getFinalRTHAltitude(void)
static void updateDesiredRTHAltitude(void) static void updateDesiredRTHAltitude(void)
{ {
if (ARMING_FLAG(ARMED)) { 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) { switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT: case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z; posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;