mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
33 lines
811 B
Plaintext
33 lines
811 B
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static int32_t get_RTL_alt()
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{
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if(g.rtl_altitude <= 0) {
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return min(current_loc.alt, RTL_ALT_MAX);
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}else if (g.rtl_altitude < current_loc.alt) {
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return min(current_loc.alt, RTL_ALT_MAX);
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}else{
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return g.rtl_altitude;
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}
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}
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// run this at setup on the ground
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// -------------------------------
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static void init_home()
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{
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set_home_is_set(true);
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ahrs.set_home(g_gps->latitude, g_gps->longitude, 0);
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inertial_nav.setup_home_position();
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if (g.log_bitmask & MASK_LOG_CMD)
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Log_Write_Cmd(0, &home);
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// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
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scaleLongDown = longitude_scale(home);
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scaleLongUp = 1.0f/scaleLongDown;
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}
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