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Rover: do_RTL calls set_mode(RTL) 

This reverses the caller so the vehicle code calls into the mode instead of the mode calling up into the vehicle code
This commit is contained in:
Randy Mackay 2017-07-19 17:03:45 +09:00
parent e7424a456f
commit 4fe937b985
2 changed files with 3 additions and 4 deletions
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4
APMrover2/commands_logic.cpp
View File

@ -215,9 +215,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
void Rover::do_RTL(void)
{
prev_WP = current_loc;
control_mode = &mode_rtl;
next_WP = home;
set_mode(mode_rtl);
}
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)

3
APMrover2/mode_rtl.cpp
View File

@ -3,7 +3,8 @@
bool ModeRTL::_enter()
{
rover.do_RTL();
rover.prev_WP = rover.current_loc;
rover.next_WP = rover.home;
g2.motors.slew_limit_throttle(true);
return true;
}