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Corrected heading and based off home position

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This commit is contained in:
Darren Lines 2021-08-01 11:39:29 +01:00
parent 4e5f86fa2d
commit b6f8ff98c3
1 changed files with 2 additions and 2 deletions
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4
src/main/navigation/navigation.c
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@ -2151,7 +2151,7 @@ float getFinalRTHAltitude(void)
} }
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Reset home position to current position * Update the RTH Altitudes
*-----------------------------------------------------------*/ *-----------------------------------------------------------*/
static void updateDesiredRTHAltitude(void) static void updateDesiredRTHAltitude(void)
{ {
@ -2160,7 +2160,7 @@ static void updateDesiredRTHAltitude(void)
|| ((navGetStateFlags(posControl.navState) & NAV_AUTO_WP) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_RTH))) { || ((navGetStateFlags(posControl.navState) & NAV_AUTO_WP) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_RTH))) {
switch (navConfig()->general.flags.rth_climb_first_stage_mode) { switch (navConfig()->general.flags.rth_climb_first_stage_mode) {
case NAV_RTH_CLIMB_STAGE_AT_LEAST: case NAV_RTH_CLIMB_STAGE_AT_LEAST:
posControl.rthState.rthClimbStageAltitude = navConfig()->general.rth_climb_first_stage_altitude; posControl.rthState.rthClimbStageAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_climb_first_stage_altitude;
break; break;
case NAV_RTH_CLIMB_STAGE_EXTRA: case NAV_RTH_CLIMB_STAGE_EXTRA:
posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_climb_first_stage_altitude; posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_climb_first_stage_altitude;