From 0577a40440722e5e058fbc208d337a86c4f4e1f7 Mon Sep 17 00:00:00 2001 From: Silvan Date: Mon, 19 Jan 2026 10:45:10 +0100 Subject: [PATCH] RTL Direct: remove unnecessary sanitization Signed-off-by: Silvan --- src/modules/navigator/rtl_direct.cpp | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index d971b0ecd8..54c3e82df1 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -125,8 +125,6 @@ void RtlDirect::on_inactive() void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos) { - _home_pos_sub.update(); - parameters_update(); // Only allow to set a new approach if the mode is not activated yet. @@ -134,20 +132,6 @@ void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s _destination = rtl_position; _force_heading = false; - // Input sanitation - if (!PX4_ISFINITE(_destination.lat) || !PX4_ISFINITE(_destination.lon)) { - // We don't have a valid rtl position, use the home position instead. - _destination.lat = _home_pos_sub.get().lat; - _destination.lon = _home_pos_sub.get().lon; - _destination.alt = _home_pos_sub.get().alt; - _destination.yaw = _home_pos_sub.get().yaw; - } - - if (!PX4_ISFINITE(_destination.alt)) { - // Not a valid rtl land altitude. Assume same altitude as home position. - _destination.alt = _home_pos_sub.get().alt; - } - _land_approach = sanitizeLandApproach(loiter_pos); const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)};