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RTL: always fill loiter_radius field, indpendent on vehicle type 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-09-15 18:50:26 +02:00 committed by Daniel Agar
parent e9f349a2fc
commit 5a74f07a74
1 changed files with 4 additions and 9 deletions
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13
src/modules/navigator/rtl.cpp
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@ -376,7 +376,7 @@ void RTL::set_rtl_item()
// can be displayed on groundstation and the WP is accepted once within loiter radius
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.loiter_radius = landing_loiter_radius;
} else {
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@ -404,6 +404,7 @@ void RTL::set_rtl_item()
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.loiter_radius = landing_loiter_radius;
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above destination)\t",
(int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - _destination.alt));
@ -434,14 +435,11 @@ void RTL::set_rtl_item()
_mission_item.yaw = _destination.yaw;
}
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_mission_item.loiter_radius = landing_loiter_radius;
}
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.loiter_radius = landing_loiter_radius;
// Disable previous setpoint to prevent drift.
pos_sp_triplet->previous.valid = false;
@ -481,14 +479,11 @@ void RTL::set_rtl_item()
_mission_item.yaw = _destination.yaw;
}
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_mission_item.loiter_radius = landing_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 = autocontinue;
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.loiter_radius = landing_loiter_radius;
_navigator->set_can_loiter_at_sp(true);