// exit_mission_callback - callback function called from ap-mission when the mission has completed
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
void Plane::exit_mission_callback()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("Returning to Home"));
memset(&auto_rtl_command, 0, sizeof(auto_rtl_command));
auto_rtl_command.content.location =
rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
auto_rtl_command.id = MAV_CMD_NAV_LOITER_UNLIM;
setup_terrain_target_alt(auto_rtl_command.content.location);
update_flight_stage();
setup_glide_slope();
setup_turn_angle();
start_command(auto_rtl_command);
}
}
void Plane::do_RTL(int32_t rtl_altitude)
{
auto_state.next_wp_no_crosstrack = true;
auto_state.no_crosstrack = true;
prev_WP_loc = current_loc;
next_WP_loc = rally.calc_best_rally_or_home_location(current_loc, rtl_altitude);
setup_terrain_target_alt(next_WP_loc);
set_target_altitude_location(next_WP_loc);
if (aparm.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
setup_glide_slope();
setup_turn_angle();
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
}
