From d6fb1114ff3eb2bd7de68c4bd43c9f075ab10e55 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Tue, 19 Jul 2022 17:45:00 +0200 Subject: [PATCH] rtl: fix printout of rtl delay time --- src/modules/navigator/rtl.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 8485e7bec6..eb787fba88 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -450,13 +450,13 @@ void RTL::set_rtl_item() } case RTL_STATE_LOITER: { - const bool autoland = (_param_rtl_land_delay.get() > FLT_EPSILON); + const bool autocontinue = (_param_rtl_land_delay.get() > FLT_EPSILON); - if (autoland) { + if (autocontinue) { _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs\t", - (double)get_time_inside(_mission_item)); - events::send(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", get_time_inside(_mission_item)); + (double)_param_rtl_land_delay.get()); + events::send(events::ID("rtl_loiter"), events::Log::Info, "RTL: loiter {1:.1}s", _param_rtl_land_delay.get()); } else { _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; @@ -479,7 +479,7 @@ void RTL::set_rtl_item() _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = max(_param_rtl_land_delay.get(), 0.0f); - _mission_item.autocontinue = autoland; + _mission_item.autocontinue = autocontinue; _mission_item.origin = ORIGIN_ONBOARD; _navigator->set_can_loiter_at_sp(true);