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Trackback flight controller lock up fix #11393

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Trackback flight controller lock up fix #11393

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9 changes: 5 additions & 4 deletions src/main/navigation/rth_trackback.c
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Original file line number Diff line number Diff line change
Expand Up @@ -153,10 +153,11 @@ bool rthTrackBackSetNewPosition(void)
rth_trackback.activePointIndex = NAV_RTH_TRACKBACK_POINTS - 1;
}

calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());

if (rth_trackback.activePointIndex - rth_trackback.WrapAroundCounter == 0) {
rth_trackback.WrapAroundCounter = rth_trackback.activePointIndex = -1;
// Last trackback point reached when activePointIndex = WrapAroundCounter so only set position when not equal
if (rth_trackback.activePointIndex != rth_trackback.WrapAroundCounter) {
calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());
} else {
rth_trackback.activePointIndex = -1; // if not already = -1 set to -1 to end trackback next iteration
}
} else {
setDesiredPosition(getRthTrackBackPosition(), 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
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