dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #720 from thomasgubler/navigator_rtl_waypointtype 

Navigator rtl: fix waypoint type
This commit is contained in:
Lorenz Meier 2014-05-08 23:25:10 -07:00
parent e18bdfdf65 e8efbc7f3f
commit b2b2e307b6
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/navigator/navigator_main.cpp
View File

@ -1291,7 +1291,7 @@ Navigator::set_rtl_item()
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
@ -1351,7 +1351,7 @@ Navigator::set_rtl_item()
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay;
_mission_item.pitch_min = 0.0f;