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rth trackback tweaks

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This commit is contained in:
breadoven 2024-05-14 11:42:13 +01:00
parent b96c3d4c1f
commit c9779c2dee
3 changed files with 11 additions and 14 deletions
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8
src/main/navigation/navigation.c
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@ -301,10 +301,6 @@ bool validateRTHSanityChecker(void);
void updateHomePosition(void);
bool abortLaunchAllowed(void);
// static bool rthAltControlStickOverrideCheck(unsigned axis);
// static void updateRthTrackback(bool forceSaveTrackPoint);
// static fpVector3_t * rthGetTrackbackPos(void);
#ifdef USE_FW_AUTOLAND
static float getLandAltitude(void);
static int32_t calcWindDiff(int32_t heading, int32_t windHeading);
@ -1449,7 +1445,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
}
else {
// Switch to RTH trackback
if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
if (rthTrackBackCanBeActivated() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference
posControl.flags.rthTrackbackActive = true;
calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());
@ -1568,7 +1564,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (rthTrackBackSetNewPosition()) {
if (!rthTrackBackSetNewPosition()) {
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE;
}