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Commander: don't reset Home position if landed during a (uncompleted) mission. (#24902)

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Mahima Yoga 2025-06-02 10:50:03 +02:00 committed by GitHub
parent 8d3c94c947
commit 2110da73ad
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GPG Key ID: B5690EEEBB952194
3 changed files with 10 additions and 3 deletions
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9
src/modules/commander/Commander.cpp
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@ -613,7 +613,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_armed_by"), events::Log::Info,
"Armed by {1}", calling_reason);
if (_param_com_home_en.get()) {
if (_param_com_home_en.get() && !_mission_in_progress) {
_home_position.setHomePosition();
}
@ -1809,7 +1809,10 @@ void Commander::run()
vtolStatusUpdate();
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed);
_mission_in_progress = (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
&& !_mission_result_sub.get().finished;
_home_position.update(_param_com_home_en.get(), !isArmed() && _vehicle_land_detected.landed && !_mission_in_progress);
handleAutoDisarm();
@ -2110,7 +2113,7 @@ void Commander::landDetectorUpdate()
}
// automatically set or update home position
if (_param_com_home_en.get()) {
if (_param_com_home_en.get() && !_mission_in_progress) {
// set the home position when taking off
if (!_vehicle_land_detected.landed) {
if (was_landed) {

1
src/modules/commander/Commander.hpp
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@ -279,6 +279,7 @@ private:
bool _arm_tune_played{false};
bool _have_taken_off_since_arming{false};
bool _status_changed{true};
bool _mission_in_progress{false};
vehicle_land_detected_s _vehicle_land_detected{};

3
src/modules/commander/commander_params.c
View File

@ -142,6 +142,9 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
*
* Set home position automatically if possible.
*
* During missions, the home position is locked and will not reset during intermediate landings.
* It will only update once the mission is complete or landed outside of a mission.
*
* @group Commander
* @reboot_required true
* @boolean