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Rover: verify_RTL calls rtl mode

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also remove unused rtl_complete
This commit is contained in:
Randy Mackay 2017-08-03 09:52:55 +09:00
parent 1b19ee865d
commit 56b0621994
2 changed files with 1 additions and 17 deletions
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2
APMrover2/Rover.h
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@ -264,8 +264,6 @@ private:
// true if we have a position estimate from AHRS
bool have_position;
bool rtl_complete;
// angle of our next navigation waypoint
int32_t next_navigation_leg_cd;

16
APMrover2/commands_logic.cpp
View File

@ -295,21 +295,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination. Distance away %dm",
static_cast<int32_t>(fabsf(get_distance(current_loc, next_WP))));
rtl_complete = true;
return true;
}
return false;
return mode_rtl.reached_destination();
}
bool Rover::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)