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px4-firmware
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rtl: fix printout of rtl delay time

This commit is contained in:
Thomas Stastny 2022-07-19 17:45:00 +02:00
parent 1ec62c4063
commit d6fb1114ff
1 changed files with 5 additions and 5 deletions
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10
src/modules/navigator/rtl.cpp
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@ -450,13 +450,13 @@ void RTL::set_rtl_item()
}
case RTL_STATE_LOITER: {
const bool autoland = (_param_rtl_land_delay.get() > FLT_EPSILON);
const bool autocontinue = (_param_rtl_land_delay.get() > FLT_EPSILON);
if (autoland) {
if (autocontinue) {
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs\t",
(double)get_time_inside(_mission_item));
events::send<float>(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", get_time_inside(_mission_item));
(double)_param_rtl_land_delay.get());
events::send<float>(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", _param_rtl_land_delay.get());
} else {
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
@ -479,7 +479,7 @@ void RTL::set_rtl_item()
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = max(_param_rtl_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.autocontinue = autocontinue;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);