Skip to content

check for safehome when wp mission RTH occurs #6899

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
wants to merge 1 commit into from
Closed

check for safehome when wp mission RTH occurs #6899

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions src/main/navigation/navigation.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1549,6 +1549,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
return nextForNonGeoStates();

case NAV_WP_ACTION_RTH:
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
posControl.rthState.rthInitialDistance = posControl.homeDistance;
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
calculateAndSetActiveWaypointToLocalPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL));
Expand Down