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Nav RTH climb first fix #10908

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Nav RTH climb first fix #10908

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9d972e4
Update navigation.c
breadoven Jun 11, 2025
164afef
Update navigation.c
breadoven Jun 14, 2025
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11 changes: 4 additions & 7 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2718,9 +2718,10 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)

case RTH_HOME_ENROUTE_PROPORTIONAL:
{
float rthTotalDistanceToTravel = posControl.rthState.rthInitialDistance - (STATE(FIXED_WING_LEGACY) ? navConfig()->fw.loiter_radius : 0);
uint16_t endPointDistance = STATE(FIXED_WING_LEGACY) ? navConfig()->fw.loiter_radius : 0;
float rthTotalDistanceToTravel = posControl.rthState.rthInitialDistance - endPointDistance;
if (rthTotalDistanceToTravel >= 100) {
float ratioNotTravelled = constrainf(posControl.homeDistance / rthTotalDistanceToTravel, 0.0f, 1.0f);
float ratioNotTravelled = constrainf((posControl.homeDistance - endPointDistance) / rthTotalDistanceToTravel, 0.0f, 1.0f);
posControl.rthState.homeTmpWaypoint.z = (posControl.rthState.rthInitialAltitude * ratioNotTravelled) + (posControl.rthState.rthFinalAltitude * (1.0f - ratioNotTravelled));
}
else {
Expand Down Expand Up @@ -3099,32 +3100,28 @@ static void updateDesiredRTHAltitude(void)
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;

case NAV_RTH_EXTRA_ALT: // Maintain current altitude + predefined safety margin
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z + navConfig()->general.rth_altitude;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;

case NAV_RTH_MAX_ALT:
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.actualState.abs.pos.z);
if (navConfig()->general.rth_altitude > 0) {
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.rthInitialAltitude, posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude);
}
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;

case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home
posControl.rthState.rthInitialAltitude = MAX(posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
break;

case NAV_RTH_CONST_ALT: // Climb/descend to predefined altitude above home
default:
posControl.rthState.rthInitialAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_altitude;
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
}
posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;

if ((navConfig()->general.flags.rth_use_linear_descent) && (navConfig()->general.rth_home_altitude > 0) && (navConfig()->general.rth_linear_descent_start_distance == 0) ) {
posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
Expand Down
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