Copter: Use RTL_CLIMB_MIN in cone slope.

lthall · Dec 1, 2023 · 250ba36 · 250ba36
1 parent 2c84799
commit 250ba36
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Showing 2 changed files with 1 addition and 5 deletions.
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -433,10 +433,6 @@
  # define RTL_CLIMB_MIN_DEFAULT     0       // vehicle will always climb this many cm as first stage of RTL
 #endif
 
-#ifndef RTL_ABS_MIN_CLIMB
- # define RTL_ABS_MIN_CLIMB         250     // absolute minimum initial climb
-#endif
-
 #ifndef RTL_CONE_SLOPE_DEFAULT
  # define RTL_CONE_SLOPE_DEFAULT    3.0f    // slope of RTL cone (height / distance). 0 = No cone
 #endif

diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
@@ -490,7 +490,7 @@ void ModeRTL::compute_return_target()
     float rtl_return_dist_cm = rtl_path.return_target.get_distance(rtl_path.origin_point) * 100.0f;
     // don't allow really shallow slopes
     if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) {
-        target_alt = MAX(curr_alt, MIN(target_alt, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
+        target_alt = MIN(target_alt, MAX(rtl_return_dist_cm * g.rtl_cone_slope, MAX(RTL_ALT_MIN, curr_alt + MAX(0, g.rtl_climb_min))));
     }
 
     // set returned target alt to new target_alt (don't change altitude type)