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Copter: smart-rtl fix for final point altitude

This commit is contained in:
Randy Mackay 2021-02-09 12:51:38 +09:00
parent 328c0655e3
commit 9d91b6c3be
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/mode_smart_rtl.cpp
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@ -107,6 +107,10 @@ void ModeSmartRTL::path_follow_run()
Vector3f next_dest_NED; Vector3f next_dest_NED;
if (g2.smart_rtl.peek_point(next_dest_NED)) { if (g2.smart_rtl.peek_point(next_dest_NED)) {
wp_nav->set_wp_destination_NED(dest_NED); wp_nav->set_wp_destination_NED(dest_NED);
if (g2.smart_rtl.get_num_points() == 1) {
// this is the very last point, add 2m to the target alt
next_dest_NED.z -= 2.0f;
}
wp_nav->set_wp_destination_next_NED(next_dest_NED); wp_nav->set_wp_destination_next_NED(next_dest_NED);
} else { } else {
// this should never happen but send next point anyway // this should never happen but send next point anyway