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Plane: bugfix - RTL_AUTOLAND no longer overrides loiter direction

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Tom Pittenger 2023-01-06 16:57:18 -08:00 committed by Andrew Tridgell
parent a25e6bbb2d
commit 9440e3c544
1 changed files with 19 additions and 25 deletions
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24
ArduPlane/mode_rtl.cpp
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@ -99,34 +99,28 @@ void ModeRTL::navigate()
}
#endif
if (plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
!plane.auto_state.checked_for_autoland &&
if (!plane.auto_state.checked_for_autoland) {
if ((plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) ||
(plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
plane.reached_loiter_target() &&
labs(plane.altitude_error_cm) < 1000) {
labs(plane.altitude_error_cm) < 1000))
{
// we've reached the RTL point, see if we have a landing sequence
if (plane.mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
plane.mission.set_force_resume(true);
plane.set_mode(plane.mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
if (plane.set_mode(plane.mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND)) {
// return here so we don't change the radius and don't run the rtl update_loiter()
return;
}
}
// prevent running the expensive jump_to_landing_sequence
// on every loop
plane.auto_state.checked_for_autoland = true;
}
else if (plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START &&
!plane.auto_state.checked_for_autoland) {
// Go directly to the landing sequence
if (plane.mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
plane.mission.set_force_resume(true);
plane.set_mode(plane.mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
}
// prevent running the expensive jump_to_landing_sequence
// on every loop
plane.auto_state.checked_for_autoland = true;
}
uint16_t radius = abs(plane.g.rtl_radius);
if (radius > 0) {
plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;