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Navigator: remove MIS_LTRMIN_ALT param, and use new param MIS_LND_ABRT_ALT for landing abort

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MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-22 13:46:25 -05:00
committed by Daniel Agar
parent ed39eb4672
commit 0941ae7579
25 changed files with 22 additions and 60 deletions
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src/modules/navigator/rtl.cpp
+1 -8
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@@ -336,14 +336,7 @@ void RTL::set_rtl_item()
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
// do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to at least MIS_LTRMIN_ALT,
// even if current climb altitude is below (e.g. RTL immediately after take off)
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
} else {
_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
}
_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
_mission_item.lat = gpos.lat;
_mission_item.lon = gpos.lon;