Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-15 04:15:38 +03:00
Code Issues Wiki Activity

Corrected heading and based off home position

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

4
src/main/navigation/navigation.c
View file

@ -2151,7 +2151,7 @@ float getFinalRTHAltitude(void)
}
/*-----------------------------------------------------------
* Reset home position to current position
* Update the RTH Altitudes
*-----------------------------------------------------------*/
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))) {
switch (navConfig()->general.flags.rth_climb_first_stage_mode) {
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;
case NAV_RTH_CLIMB_STAGE_EXTRA:
posControl.rthState.rthClimbStageAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_climb_first_stage_altitude;