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Geofence: moved rtl_on reset up so it always happens when falling out of RTL

This commit is contained in:
Andreas Antener 2016-09-07 16:54:58 +02:00
parent 5a7046027c
commit 6c7e5651ce
1 changed files with 5 additions and 5 deletions
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10
src/modules/commander/commander.cpp
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@ -2075,6 +2075,10 @@ int commander_thread_main(int argc, char *argv[])
// store the last good main_state when not in an navigation
// hold state
main_state_before_rtl = internal_state.main_state;
} else if (internal_state.main_state != commander_state_s::MAIN_STATE_AUTO_RTL) {
// reset flag again when we switched out of it
rtl_on = false;
}
orb_check(cpuload_sub, &updated);
@ -2366,11 +2370,7 @@ int commander_thread_main(int argc, char *argv[])
(fabsf(sp_man.z) - fabsf(_last_sp_man.z) > min_stick_change) ||
(fabsf(sp_man.r) - fabsf(_last_sp_man.r) > min_stick_change))) {
if (TRANSITION_CHANGED == main_state_transition(&status, main_state_before_rtl, main_state_prev, &status_flags, &internal_state)) {
// need to reset this to be able to update the state, otherwise
// it switches to the same state again when sticks move
rtl_on = false;
}
main_state_transition(&status, main_state_before_rtl, main_state_prev, &status_flags, &internal_state);
}
}