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RTL fix RTL_LAND_DELAY check and simplify logic

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This commit is contained in:
Daniel Agar
2017-11-24 13:15:42 -05:00
parent 9439eaa5fa
commit 8567e3b924
1 changed files with 3 additions and 1 deletions
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4
src/modules/navigator/rtl.cpp
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@@ -48,6 +48,8 @@
using math::max;
using math::min;
static constexpr float DELAY_SIGMA = 0.01f;
RTL::RTL(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_return_alt(this, "RTL_RETURN_ALT", false),
@@ -305,7 +307,7 @@ RTL::advance_rtl()
case RTL_STATE_DESCEND:
/* only go to land if autoland is enabled */
if (_param_land_delay.get() > FLT_EPSILON) {
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
} else {