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px4-firmware
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rtl: for vtol first desend down to RTL descend altitude before doing a transition 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-03-24 10:42:18 +03:00 committed by Lorenz Meier
parent e81d5daa66
commit bb2826ad27
1 changed files with 14 additions and 14 deletions
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28
src/modules/navigator/rtl.cpp
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@ -461,31 +461,31 @@ void RTL::advance_rtl()
break;
case RTL_STATE_RETURN:
_rtl_state = RTL_STATE_DESCEND;
break;
// Descend to desired altitude if delay is set, directly land otherwise
case RTL_STATE_TRANSITION_TO_MC:
// Only go to land if autoland is enabled.
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_DESCEND;
_rtl_state = RTL_STATE_LOITER;
} else {
_rtl_state = RTL_STATE_LAND;
}
if (_navigator->get_vstatus()->is_vtol
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
}
break;
case RTL_STATE_TRANSITION_TO_MC:
_rtl_state = RTL_STATE_RETURN;
break;
case RTL_STATE_DESCEND:
// Only go to land if autoland is enabled.
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
// If the vehicle is a vtol in fixed wing mode, then first transition to hover
if (_navigator->get_vstatus()->is_vtol
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
} else if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_DESCEND;
} else {
_rtl_state = RTL_STATE_LAND;