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Plane: call update_loiter before determining whether to fly home or not

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we are calling "reached_loiter_target" as part of our checks as to whether to fly home or not.

We need to call update_loiter so the L1 controller can update its internal state for the new waypoint which do_RTL has set.  Depending on location (but typically), that will mean that L1's reached_loiter_target() will then return false, so we fly home.

This bug was affected by f8d7be5e43 .  Any sort of altitude error greater than 10m would delay us entering the landing sequence, allowing the L1 controller to update its state.
This commit is contained in:
Peter Barker 2024-03-06 17:44:23 +11:00 committed by Randy Mackay
parent 593aeb3a13
commit c28248b963
1 changed files with 7 additions and 7 deletions
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14
ArduPlane/mode_rtl.cpp
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@ -95,6 +95,13 @@ void ModeRTL::navigate()
} }
#endif #endif
uint16_t radius = abs(plane.g.rtl_radius);
if (radius > 0) {
plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;
}
plane.update_loiter(radius);
if (!plane.auto_state.checked_for_autoland) { if (!plane.auto_state.checked_for_autoland) {
if ((plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) || if ((plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) ||
(plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START && (plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
@ -116,13 +123,6 @@ void ModeRTL::navigate()
plane.auto_state.checked_for_autoland = true; 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;
}
plane.update_loiter(radius);
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED