Plane: recalculate glide slope after achieving rtl.done_climb

4 years ago · 1b74058842
1 changed files with 2 additions and 0 deletions
--- a/ArduPlane/mode_rtl.cpp
+++ b/ArduPlane/mode_rtl.cpp
@ -24,6 +24,8 @@ void ModeRTL::update()
				@@ -24,6 +24,8 @@ void ModeRTL::update()
          until we have climbed by RTL_CLIMB_MIN meters
         */
        if (!plane.rtl.done_climb && (plane.current_loc.alt - plane.prev_WP_loc.alt)*0.01 > plane.g2.rtl_climb_min) {
+            plane.prev_WP_loc = plane.current_loc;
+            plane.setup_glide_slope();
            plane.rtl.done_climb = true;
        }
        if (!plane.rtl.done_climb) {