Plane: Allow AP_Soaring to specify loiter radius in THERMAL mode.

4 years ago · d2c8eb8ce9
1 changed files with 4 additions and 2 deletions
--- a/ArduPlane/mode_thermal.cpp
+++ b/ArduPlane/mode_thermal.cpp
@ -114,8 +114,10 @@ void ModeThermal::update_soaring()
				@@ -114,8 +114,10 @@ void ModeThermal::update_soaring()

 void ModeThermal::navigate()
 {
-    // Zero indicates to use WP_LOITER_RAD
-    plane.update_loiter(0);
+    // Soaring library calculates radius from SOAR_THML_BANK.
+    const float radius = plane.g2.soaring_controller.get_thermalling_radius();
+
+    plane.update_loiter(radius);
 }

 bool ModeThermal::exit_heading_aligned() const