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Cotper: RTL correct height for RTL_ALT_FINAL > 0.

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Iampete1 2025-02-07 00:16:24 +00:00 committed by Randy Mackay
parent 54eb396e23
commit 2091ca11c3
1 changed files with 4 additions and 1 deletions
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5
ArduCopter/mode_rtl.cpp
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@ -312,7 +312,7 @@ void ModeRTL::descent_run()
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading()); attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
// check if we've reached within 20cm of final altitude // check if we've reached within 20cm of final altitude
_state_complete = labs(rtl_path.descent_target.alt - copter.current_loc.alt) < 20; _state_complete = labs(rtl_path.descent_target.alt - copter.inertial_nav.get_position_z_up_cm()) < 20;
} }
// land_start - initialise controllers to loiter over home // land_start - initialise controllers to loiter over home
@ -389,6 +389,9 @@ void ModeRTL::build_path()
// descent target is below return target at rtl_alt_final // descent target is below return target at rtl_alt_final
rtl_path.descent_target = Location(rtl_path.return_target.lat, rtl_path.return_target.lng, g.rtl_alt_final, Location::AltFrame::ABOVE_HOME); rtl_path.descent_target = Location(rtl_path.return_target.lat, rtl_path.return_target.lng, g.rtl_alt_final, Location::AltFrame::ABOVE_HOME);
// Target altitude is passed directly to the position controller so must be relative to origin
rtl_path.descent_target.change_alt_frame(Location::AltFrame::ABOVE_ORIGIN);
// set land flag // set land flag
rtl_path.land = g.rtl_alt_final <= 0; rtl_path.land = g.rtl_alt_final <= 0;
} }