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Plane: mode LoiterAltQLand to reuse loiter point if available

This commit is contained in:
Tom Pittenger 2023-10-26 10:31:49 -07:00 committed by Andrew Tridgell
parent befd601341
commit 0e9f9920bc
1 changed files with 5 additions and 9 deletions
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14
ArduPlane/mode_LoiterAltQLand.cpp
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@ -10,17 +10,13 @@ bool ModeLoiterAltQLand::_enter()
return true;
}
// If we were already in a loiter then use that waypoint. Else, use the current point
const bool already_in_a_loiter = plane.nav_controller->reached_loiter_target() && !plane.nav_controller->data_is_stale();
const Location loiter_wp = already_in_a_loiter ? plane.next_WP_loc : plane.current_loc;
ModeLoiter::_enter();
#if AP_TERRAIN_AVAILABLE
if (plane.terrain_enabled_in_mode(Mode::Number::QLAND)) {
plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_TERRAIN);
} else {
plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
}
#else
plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
#endif
handle_guided_request(loiter_wp);
switch_qland();