From 903deb7579ec655ffea526eb5701b78f9f5c9ce8 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 25 Apr 2019 13:44:36 +0200
Subject: [PATCH] RTL - Skip descend state if no delay is set between descend
and land
---
src/modules/navigator/rtl.cpp | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 5ad35a21a3..cb57b79bed 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -309,7 +309,14 @@ RTL::advance_rtl()
break;
case RTL_STATE_RETURN:
- _rtl_state = RTL_STATE_DESCEND;
+
+ // Descend to desired altitude if delay is set, directly land otherwise
+ 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;
+ }
if (_navigator->get_vstatus()->is_vtol && !_navigator->get_vstatus()->is_rotary_wing) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
--
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