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Code Issues Wiki Activity

Navigation RTH now respects nav_rth_tail_first

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This commit is contained in:
Fabian Schwartau 2020-02-21 16:45:22 +01:00
parent b4ec9e48e4
commit cecdb93447
1 changed files with 4 additions and 1 deletions
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3
src/main/navigation/navigation.c
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@ -1412,6 +1412,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
if(navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY))
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
else
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
setDesiredPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL), 0, NAV_POS_UPDATE_Z);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms