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Copter: RTL internal error fix

This commit is contained in:
Randy Mackay 2024-11-06 19:45:50 +09:00
parent 816d81aaf2
commit 0f8d15c14a
2 changed files with 16 additions and 3 deletions
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2
ArduCopter/mode.h
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@ -1488,7 +1488,7 @@ private:
void climb_return_run();
void loiterathome_start();
void loiterathome_run();
void build_path();
void build_path_run();
bool compute_return_target();
SubMode _state = SubMode::INITIAL_CLIMB; // records state of rtl (initial climb, returning home, etc)

17
ArduCopter/mode_rtl.cpp
View File

@ -110,7 +110,7 @@ void ModeRTL::run(bool disarm_on_land)
switch (_state) {
case SubMode::BUILD_PATH:
build_path();
build_path_run();
break;
case SubMode::INITIAL_CLIMB:
@ -385,8 +385,21 @@ void ModeRTL::land_run(bool disarm_on_land)
// build RTL return path
// _state_complete set to true on success
void ModeRTL::build_path()
void ModeRTL::build_path_run()
{
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
pos_control->update_z_controller();
// call attitude controller with auto yaw
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
// compute return target
if (!compute_return_target()) {
return;