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Plane: re-init RTL modes if home set

This commit is contained in:
Iampete1 2021-09-11 23:05:49 +01:00 committed by Peter Hall
parent 478bf37246
commit 1d5ea351c4
1 changed files with 9 additions and 3 deletions
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12
ArduPlane/GCS_Mavlink.cpp
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@ -1017,7 +1017,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
return MAV_RESULT_FAILED;
}
AP::ahrs().lock_home();
return MAV_RESULT_ACCEPTED;
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
@ -1030,9 +1029,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
if (!set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
break;
if ((plane.control_mode == &plane.mode_rtl)
#if HAL_QUADPLANE_ENABLED
|| (plane.control_mode == &plane.mode_qrtl)
#endif
) {
// if in RTL head to the updated home location
plane.control_mode->enter();
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_DO_AUTOTUNE_ENABLE: