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Copter: safe-rtl changes after peer review

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This commit is contained in:
Randy Mackay 2017-08-31 11:23:31 +09:00
parent ba0e08552f
commit 218983d594
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/control_safe_rtl.cpp
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@ -25,9 +25,9 @@ bool Copter::safe_rtl_init(bool ignore_checks)
// wait for cleanup of return path // wait for cleanup of return path
safe_rtl_state = SafeRTL_WaitForPathCleanup; safe_rtl_state = SafeRTL_WaitForPathCleanup;
return true; return true;
} else {
return false;
} }
return false;
} }
// perform cleanup required when leaving safe_rtl // perform cleanup required when leaving safe_rtl
@ -38,7 +38,7 @@ void Copter::safe_rtl_exit()
void Copter::safe_rtl_run() void Copter::safe_rtl_run()
{ {
switch(safe_rtl_state){ switch (safe_rtl_state) {
case SafeRTL_WaitForPathCleanup: case SafeRTL_WaitForPathCleanup:
safe_rtl_wait_cleanup_run(); safe_rtl_wait_cleanup_run();
break; break;
@ -77,8 +77,8 @@ void Copter::safe_rtl_path_follow_run()
if (wp_nav->reached_wp_destination()) { if (wp_nav->reached_wp_destination()) {
Vector3f next_point; Vector3f next_point;
if (g2.safe_rtl.pop_point(next_point)) { if (g2.safe_rtl.pop_point(next_point)) {
// this is the very last point, add 2m to the target alt and move to pre-land state
if (g2.safe_rtl.get_num_points() == 0) { if (g2.safe_rtl.get_num_points() == 0) {
// this is the very last point, add 2m to the target alt and move to pre-land state
next_point.z -= 2.0f; next_point.z -= 2.0f;
safe_rtl_state = SafeRTL_PreLandPosition; safe_rtl_state = SafeRTL_PreLandPosition;
} }
@ -130,7 +130,7 @@ void Copter::safe_rtl_pre_land_position_run()
// save current position for use by the safe_rtl flight mode // save current position for use by the safe_rtl flight mode
void Copter::safe_rtl_save_position() void Copter::safe_rtl_save_position()
{ {
bool save_position = motors->armed() && (control_mode != SAFE_RTL); const bool save_position = motors->armed() && (control_mode != SAFE_RTL);
g2.safe_rtl.update(position_ok(), save_position); g2.safe_rtl.update(position_ok(), save_position);
} }