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Commit 570624f5 authored by Randy Mackay's avatar Randy Mackay
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Copter: RTL bug fix to initial step is always a climb and not a descent

Also bug fix to hold yaw on take-off
parent 03733e28
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......@@ -229,7 +229,7 @@ static void do_RTL(void)
wp_control = LOITER_MODE;
// initial climb starts at current location
next_WP = current_loc;
set_next_WP(&current_loc);
// override altitude to RTL altitude
set_new_altitude(get_RTL_alt());
......@@ -250,11 +250,14 @@ static void do_takeoff()
// alt is always relative
temp.alt = command_nav_queue.alt;
// prevent flips
reset_I_all();
// Set our waypoint
set_next_WP(&temp);
// set our yaw mode
set_yaw_mode(YAW_HOLD);
// prevent flips
reset_I_all();
}
// do_nav_wp - initiate move to next waypoint
......@@ -476,7 +479,7 @@ static bool verify_RTL()
case RTL_STATE_INITIAL_CLIMB:
// rely on verify_altitude function to update alt_change_flag when we've reached the target
if(alt_change_flag == REACHED_ALT) {
if(alt_change_flag == REACHED_ALT || alt_change_flag == DESCENDING) {
// Set navigation target to home
set_next_WP(&home);
......
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