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Rover: added waypoint passed logic to RTL

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this prevents circling around home
This commit is contained in:
Andrew Tridgell 2013-03-29 10:24:59 +11:00
parent d02a127b7e
commit 0ed3061d32
1 changed files with 9 additions and 2 deletions
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11
APMrover2/commands_logic.pde
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@ -222,9 +222,16 @@ static bool verify_RTL()
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
rtl_complete = true; rtl_complete = true;
return true; return true;
}else{
return false;
} }
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Reached Home dist %um"),
(unsigned)get_distance(&current_loc, &next_WP));
return true;
}
return false;
} }
/********************************************************************************/ /********************************************************************************/