navigator: loiter fixes

src/modules/navigator/loiter.cpp

@@ -70,11 +70,10 @@ bool
 Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	/* set loiter item, don't reuse an existing position setpoint */
-	return set_loiter_item(false, pos_sp_triplet);;
+	return set_loiter_item(pos_sp_triplet);
 }
 
 void
 Loiter::on_inactive()
 {
 }
-

src/modules/navigator/mission.cpp

@@ -233,7 +233,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: onboard mission running");
 		}
 		_mission_type = MISSION_TYPE_ONBOARD;
-		_navigator->set_is_in_loiter(false);
+		_navigator->set_can_loiter_at_sp(false);
 
 	/* try setting offboard mission item */
 	} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -243,7 +243,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: offboard mission running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
-		_navigator->set_is_in_loiter(false);
+		_navigator->set_can_loiter_at_sp(false);
 	} else {
 		if (_mission_type != MISSION_TYPE_NONE) {
 			mavlink_log_info(_navigator->get_mavlink_fd(),
@@ -253,9 +253,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: no mission available");
 		}
 		_mission_type = MISSION_TYPE_NONE;
+        _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
-		bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached;
+		set_loiter_item(pos_sp_triplet);
-		set_loiter_item(use_current_pos_sp, pos_sp_triplet);
 		reset_mission_item_reached();
 		report_mission_finished();
 	}

src/modules/navigator/mission_block.cpp

@@ -204,22 +204,26 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_
 }
 
 bool
-MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
+MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
-	if (_navigator_priv->get_is_in_loiter()) {
+    /* don't change setpoint if 'can_loiter_at_sp' flag set */
-		/* already loitering, bail out */
+	if (!(_navigator_priv->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
-		return false;
-	}
-
-	if (reuse_current_pos_sp && pos_sp_triplet->current.valid) {
-		/* leave position setpoint as is */
-	} else {
 		/* use current position */
 		pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
 		pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
 		pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
 		pos_sp_triplet->current.yaw = NAN;	/* NAN means to use current yaw */
+
+	    _navigator_priv->set_can_loiter_at_sp(true);
 	}
+
+    if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
+            || pos_sp_triplet->current.loiter_radius != _navigator_priv->get_loiter_radius()
+            || pos_sp_triplet->current.loiter_direction != 1
+            || pos_sp_triplet->previous.valid
+            || !pos_sp_triplet->current.valid
+            || pos_sp_triplet->next.valid) {
+        /* position setpoint triplet should be updated */
         pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
         pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius();
         pos_sp_triplet->current.loiter_direction = 1;
@@ -227,8 +231,8 @@ MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoin
         pos_sp_triplet->previous.valid = false;
         pos_sp_triplet->current.valid = true;
         pos_sp_triplet->next.valid = false;
-
-	_navigator_priv->set_is_in_loiter(true);
         return true;
     }
 
+    return false;
+}

src/modules/navigator/mission_block.h

@@ -90,11 +90,10 @@ public:
 	/**
 	 * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
 	 *
-	 * @param true if the current position setpoint should be re-used
 	 * @param the position setpoint triplet to set
 	 * @return true if setpoint has changed
 	 */
-	bool set_loiter_item(const bool reuse_current_pos_sp, position_setpoint_triplet_s *pos_sp_triplet);
+	bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet);
 
 	bool _waypoint_position_reached;
 	bool _waypoint_yaw_reached;

src/modules/navigator/navigator.h

@@ -102,7 +102,7 @@ public:
 	/**
 	 * Setters
 	 */
-	void		set_is_in_loiter(bool is_in_loiter) { _is_in_loiter = is_in_loiter; }
+	void		set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
 
 	/**
 	 * Getters
@@ -113,7 +113,7 @@ public:
 	int		get_onboard_mission_sub() { return _onboard_mission_sub; }
 	int		get_offboard_mission_sub() { return _offboard_mission_sub; }
 	Geofence&	get_geofence() { return _geofence; }
-	bool		get_is_in_loiter() { return _is_in_loiter; }
+	bool		get_can_loiter_at_sp() { return _can_loiter_at_sp; }
 	float		get_loiter_radius() { return _param_loiter_radius.get(); }
 	float		get_takeoff_acceptance_radius() { return _param_takeoff_acceptance_radius.get(); }
 	int		get_mavlink_fd() { return _mavlink_fd; }
@@ -161,7 +161,7 @@ private:
 
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 
-	bool		_is_in_loiter;			/**< flags if current position SP can be used to loiter */
+	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
 	bool		_update_triplet;		/**< flags if position SP triplet needs to be published */
 
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */

src/modules/navigator/navigator_main.cpp

@@ -347,7 +347,7 @@ Navigator::task_main()
 			case NAVIGATION_STATE_ALTCTL:
 			case NAVIGATION_STATE_POSCTL:
 				_navigation_mode = nullptr;
-				_is_in_loiter = false;
+				_can_loiter_at_sp = false;
 				break;
 			case NAVIGATION_STATE_AUTO_MISSION:
 				_navigation_mode = &_mission;
@@ -365,7 +365,7 @@ Navigator::task_main()
 			case NAVIGATION_STATE_TERMINATION:
 			default:
 				_navigation_mode = nullptr;
-				_is_in_loiter = false;
+				_can_loiter_at_sp = false;
 				break;
 		}
 

src/modules/navigator/rtl.cpp

@@ -136,6 +136,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
     }
 
     set_previous_pos_setpoint(pos_sp_triplet);
+    _navigator->set_can_loiter_at_sp(false);
 
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
@@ -156,8 +157,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.autocontinue = true;
 		_mission_item.origin = ORIGIN_ONBOARD;
 
-		_navigator->set_is_in_loiter(false);
-
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
 			(int)(climb_alt - _navigator->get_home_position()->alt));
 		break;
@@ -189,8 +188,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.autocontinue = true;
 		_mission_item.origin = ORIGIN_ONBOARD;
 
-		_navigator->set_is_in_loiter(false);
-
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
 			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
 		break;
@@ -211,8 +208,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.autocontinue = _param_land_delay.get() > -0.001f;
 		_mission_item.origin = ORIGIN_ONBOARD;
 
-		_navigator->set_is_in_loiter(true);
-
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
 			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
 		break;
@@ -234,8 +229,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.autocontinue = true;
 		_mission_item.origin = ORIGIN_ONBOARD;
 
-		_navigator->set_is_in_loiter(false);
-
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
 		break;
 	}