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Copter: RTL alt should not be above fence alt

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Resolves issue #435
If the altitude fence is enabled, when the vehicle RTLs it will return
at the lower of the RTL_ALT and the FENCE_ALT_MAX
This commit is contained in:
Randy Mackay 2014-04-27 15:35:32 +09:00
parent 4686eef266
commit 0665cf6b28
1 changed files with 11 additions and 2 deletions
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13
ArduCopter/control_rtl.pde
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@ -359,7 +359,16 @@ static void rtl_land_run()
// altitude is in cm above home
static float get_RTL_alt()
{
// return maximum of current altitude and rtl altitude
return max(current_loc.alt, g.rtl_altitude);
// maximum of current altitude and rtl altitude
float rtl_alt = max(current_loc.alt, g.rtl_altitude);
#if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
rtl_alt = min(rtl_alt, fence.get_safe_alt()*100.0f);
}
#endif
return rtl_alt;
}