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Plane: fixed GUIDED loiter with Q_RTL_MODE=1

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this was broken by the recent RTL_RADIUS changes

thanks to Nick for noticing this!
This commit is contained in:
Andrew Tridgell 2017-10-31 18:01:33 +11:00
parent 6111f2322f
commit 26e4f8ccb3
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/navigation.cpp
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@ -189,7 +189,7 @@ void Plane::update_loiter(uint16_t radius)
control_mode == AUTO &&
!auto_state.no_crosstrack &&
get_distance(current_loc, next_WP_loc) > radius*3) ||
(quadplane.available() && quadplane.rtl_mode == 1)) {
(control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) {
/*
if never reached loiter point and using crosstrack and somewhat far away from loiter point
navigate to it like in auto-mode for normal crosstrack behavior