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| author | Julian Oes <julian@oes.ch> | 2014-06-06 23:08:11 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-06 23:08:11 +0200 |
| commit | 94c4fc56aa229bcb909e5437804e7475adfbcdba (patch) | |
| tree | 6e4b2a998b8d338eb04114626321595330e669c9 /src/modules/navigator/rtl.cpp | |
| parent | 1bec9dfe2bab4200a2e2859d1efee0a1bb66e6d1 (diff) | |
| download | px4-firmware-94c4fc56aa229bcb909e5437804e7475adfbcdba.tar.gz px4-firmware-94c4fc56aa229bcb909e5437804e7475adfbcdba.tar.bz2 px4-firmware-94c4fc56aa229bcb909e5437804e7475adfbcdba.zip | |
navigator: audio messages about what is happening, RTL during mission not triggered but after mission
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index c4c5f2aab..dde35d5b6 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -112,6 +112,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) /* for safety reasons don't go into RTL if landed */ if (_navigator->get_vstatus()->condition_landed) { _rtl_state = RTL_STATE_FINISHED; + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); /* if lower than return altitude, climb up first */ } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_return_alt.get()) { @@ -133,11 +134,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get(); - /* TODO understand and fix this */ - // if (_vstatus.condition_landed) { - // climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt); - // } - _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; _mission_item.altitude_is_relative = false; |