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anilkir · anilkir · commit a9d3e35be381 · 2026-04-26T19:24:24.000-07:00
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
@@ -369,7 +369,7 @@ void RTL::setRtlTypeAndDestination()
 		}
 
 	} else if (_param_rtl_type.get() == 6) {
-		// estimate time to fly home using the same infrastructure as the battery failsafe
+		// Set _rtl_direct with the home destination so calc_rtl_time_estimate() can check its reachability
 		const float rtl_alt_home = computeReturnAltitude(destination);
 		_rtl_direct.setRtlAlt(rtl_alt_home);
 		_rtl_direct.setRtlPosition(destination, landing_loiter);

Original file line number	Diff line number	Diff line change
`@@ -369,7 +369,7 @@ void RTL::setRtlTypeAndDestination()`
`369`	`369`	`}`
`370`	`370`
`371`	`371`	`} else if (_param_rtl_type.get() == 6) {`
`372`		`- // estimate time to fly home using the same infrastructure as the battery failsafe`
	`372`	`+ // Set _rtl_direct with the home destination so calc_rtl_time_estimate() can check its reachability`
`373`	`373`	`const float rtl_alt_home = computeReturnAltitude(destination);`
`374`	`374`	`_rtl_direct.setRtlAlt(rtl_alt_home);`
`375`	`375`	`_rtl_direct.setRtlPosition(destination, landing_loiter);`