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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-26 00:17:25 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-26 00:17:25 +0200 |
| commit | c5a5604ae975294347f1571258a633c11ef61261 (patch) | |
| tree | 3aa382490d7cc977ff3ee6be284a6494c9cdd039 /src/modules/navigator/rtl.cpp | |
| parent | 39454ca99d984698983404b2c82bbd61f93be3fc (diff) | |
| download | px4-firmware-c5a5604ae975294347f1571258a633c11ef61261.tar.gz px4-firmware-c5a5604ae975294347f1571258a633c11ef61261.tar.bz2 px4-firmware-c5a5604ae975294347f1571258a633c11ef61261.zip | |
navigator: loiter fixes
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 9 |
1 files changed, 1 insertions, 8 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 46194ed52..411f8c527 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -136,6 +136,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) } set_previous_pos_setpoint(pos_sp_triplet); + _navigator->set_can_loiter_at_sp(false); switch (_rtl_state) { case RTL_STATE_CLIMB: { @@ -156,8 +157,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - _navigator->set_is_in_loiter(false); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home", (int)(climb_alt - _navigator->get_home_position()->alt)); break; @@ -189,8 +188,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - _navigator->set_is_in_loiter(false); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home", (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; @@ -211,8 +208,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.autocontinue = _param_land_delay.get() > -0.001f; _mission_item.origin = ORIGIN_ONBOARD; - _navigator->set_is_in_loiter(true); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home", (int)(_mission_item.altitude - _navigator->get_home_position()->alt)); break; @@ -234,8 +229,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.autocontinue = true; _mission_item.origin = ORIGIN_ONBOARD; - _navigator->set_is_in_loiter(false); - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home"); break; } |