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RTL Direct: remove unnecessary sanitization

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2026-01-23 17:16:42 +01:00
committed by Silvan Fuhrer
parent 2239c10192
commit 0577a40440
1 changed files with 0 additions and 16 deletions
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src/modules/navigator/rtl_direct.cpp
-16
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@@ -125,8 +125,6 @@ void RtlDirect::on_inactive()
void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos) void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos)
{ {
_home_pos_sub.update();
parameters_update(); parameters_update();
// Only allow to set a new approach if the mode is not activated yet. // 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; _destination = rtl_position;
_force_heading = false; _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); _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)}; const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)};