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Improve climb-out logic for RTH. Different margin for airplane and copter #1568

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Apr 23, 2017
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Improve climb-out logic for RTH. Different margin for airplane and copter #1568

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6 changes: 5 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -856,7 +856,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n

// If we have valid pos sensor OR we are configured to ignore GPS loss
if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -50.0f) || (!navConfig()->general.flags.rth_climb_first)) {
const float rthAltitudeMargin = STATE(FIXED_WING) ?
MIN(100.0f, 0.10f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)) : // Airplane: 10% of target altitude but no less than 1m
MIN( 50.0f, 0.05f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)); // Copters: 5% of target altitude but no less than 50cm

if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -rthAltitudeMargin) || (!navConfig()->general.flags.rth_climb_first)) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
if (STATE(FIXED_WING)) {
initializeRTHSanityChecker(&posControl.actualState.pos);
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