// rtl_init - initialise rtl controller bool Copter::rtl_init(bool ignore_checks) { if (position_ok() || ignore_checks) { rtl_climb_start(); return true; }else{ return false; } }
// re-start RTL with terrain following disabled void Copter::rtl_restart_without_terrain() { // log an error Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_RESTARTED_RTL); if (rtl_path.terrain_used) { rtl_build_path(false); rtl_climb_start(); gcs_send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing"); } }
// rtl_init - initialise rtl controller bool Copter::rtl_init(bool ignore_checks) { if (position_ok() || ignore_checks) { rtl_build_path(!failsafe.terrain); rtl_climb_start(); return true; }else{ return false; } }