Navigator remove unnecessary calls to updateParams

- the SuperBlock already does this

src/modules/navigator/datalinkloss.cpp

@@ -54,8 +54,6 @@
 #include "navigator.h"
 #include "datalinkloss.h"
 
-#define DELAY_SIGMA	0.01f
-
 DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_param_commsholdwaittime(this, "CH_T"),
@@ -69,12 +67,6 @@ DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
 	_param_numberdatalinklosses(this, "N"),
 	_param_skipcommshold(this, "CHSK"),
 	_dll_state(DLL_STATE_NONE)
-{
-	/* initial reset */
-	on_inactive();
-}
-
-DataLinkLoss::~DataLinkLoss()
 {
 }
 

src/modules/navigator/datalinkloss.h

@@ -40,28 +40,21 @@
 #ifndef NAVIGATOR_DATALINKLOSS_H
 #define NAVIGATOR_DATALINKLOSS_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
-#include <uORB/Subscription.hpp>
-
 #include "navigator_mode.h"
 #include "mission_block.h"
 
 class Navigator;
 
-class DataLinkLoss : public MissionBlock
+class DataLinkLoss final : public MissionBlock
 {
 public:
 	DataLinkLoss(Navigator *navigator, const char *name);
 
-	~DataLinkLoss();
+	~DataLinkLoss() = default;
 
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_inactive() override;
+	void on_activation() override;
+	void on_active() override;
 
 private:
 	/* Params */
@@ -82,7 +75,7 @@ private:
 		DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
 		DLL_STATE_TERMINATE = 3,
 		DLL_STATE_END = 4
-	} _dll_state;
+	} _dll_state{DLL_STATE_NONE};
 
 	/**
 	 * Set the DLL item

src/modules/navigator/enginefailure.cpp

@@ -52,17 +52,9 @@
 #include "navigator.h"
 #include "enginefailure.h"
 
-#define DELAY_SIGMA	0.01f
-
 EngineFailure::EngineFailure(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_ef_state(EF_STATE_NONE)
-{
-	/* initial reset */
-	on_inactive();
-}
-
-EngineFailure::~EngineFailure()
 {
 }
 

src/modules/navigator/enginefailure.h

@@ -40,34 +40,26 @@
 #ifndef NAVIGATOR_ENGINEFAILURE_H
 #define NAVIGATOR_ENGINEFAILURE_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
-#include <uORB/Subscription.hpp>
-
 #include "navigator_mode.h"
 #include "mission_block.h"
 
 class Navigator;
 
-class EngineFailure : public MissionBlock
+class EngineFailure final : public MissionBlock
 {
 public:
 	EngineFailure(Navigator *navigator, const char *name);
+	~EngineFailure() = default;
 
-	~EngineFailure();
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_inactive() override;
+	void on_activation() override;
+	void on_active() override;
 
 private:
 	enum EFState {
 		EF_STATE_NONE = 0,
 		EF_STATE_LOITERDOWN = 1,
-	} _ef_state;
+	} _ef_state{EF_STATE_NONE};
 
 	/**
 	 * Set the DLL item

src/modules/navigator/follow_target.cpp

@@ -60,28 +60,11 @@ constexpr float FollowTarget::_follow_position_matricies[4][9];
 
 FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
-	_navigator(navigator),
 	_param_min_alt(this, "NAV_MIN_FT_HT", false),
 	_param_tracking_dist(this, "NAV_FT_DST", false),
 	_param_tracking_side(this, "NAV_FT_FS", false),
-	_param_tracking_resp(this, "NAV_FT_RS", false),
-	_param_yaw_auto_max(this, "MC_YAWRAUTO_MAX", false),
-	_follow_target_state(SET_WAIT_FOR_TARGET_POSITION),
-	_follow_target_position(FOLLOW_FROM_BEHIND),
-	_follow_target_sub(-1),
-	_step_time_in_ms(0.0f),
-	_follow_offset(OFFSET_M),
-	_target_updates(0),
-	_last_update_time(0),
-	_current_target_motion(),
-	_previous_target_motion(),
-	_yaw_rate(0.0F),
-	_responsiveness(0.0F),
-	_yaw_auto_max(0.0F),
-	_yaw_angle(0.0F)
+	_param_tracking_resp(this, "NAV_FT_RS", false)
 {
-	_current_target_motion = {};
-	_previous_target_motion =  {};
 	_current_vel.zero();
 	_step_vel.zero();
 	_est_target_vel.zero();
@@ -90,10 +73,6 @@ FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
 	_target_position_delta.zero();
 }
 
-FollowTarget::~FollowTarget()
-{
-}
-
 void FollowTarget::on_inactive()
 {
 	reset_target_validity();
@@ -105,8 +84,6 @@ void FollowTarget::on_activation()
 
 	_responsiveness = math::constrain((float) _param_tracking_resp.get(), .1F, 1.0F);
 
-	_yaw_auto_max = math::radians(_param_yaw_auto_max.get());
-
 	_follow_target_position = _param_tracking_side.get();
 
 	if ((_follow_target_position > FOLLOW_FROM_LEFT) || (_follow_target_position < FOLLOW_FROM_RIGHT)) {
@@ -230,11 +207,7 @@ void FollowTarget::on_active()
 						_current_target_motion.lat,
 						_current_target_motion.lon);
 
-				_yaw_rate = (_yaw_angle - _navigator->get_global_position()->yaw) / (dt_ms / 1000.0F);
-
-				_yaw_rate = _wrap_pi(_yaw_rate);
-
-				_yaw_rate = math::constrain(_yaw_rate, -1.0F * _yaw_auto_max, _yaw_auto_max);
+				_yaw_rate = _wrap_pi((_yaw_angle - _navigator->get_global_position()->yaw) / (dt_ms / 1000.0f));
 
 			} else {
 				_yaw_angle = _yaw_rate = NAN;

src/modules/navigator/follow_target.h

@@ -40,24 +40,19 @@
 
 #pragma once
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-#include <lib/mathlib/math/Vector.hpp>
-#include <lib/mathlib/math/Matrix.hpp>
+#include <mathlib/mathlib.h>
+
 #include "navigator_mode.h"
 #include "mission_block.h"
+
 #include <uORB/topics/follow_target.h>
 
-class FollowTarget : public MissionBlock
+class FollowTarget final : public MissionBlock
 {
 
 public:
 	FollowTarget(Navigator *navigator, const char *name);
-
-	FollowTarget(const FollowTarget &) = delete;
-	FollowTarget &operator=(const FollowTarget &) = delete;
-
-	~FollowTarget();
+	~FollowTarget() = default;
 
 	void on_inactive() override;
 	void on_activation() override;
@@ -112,23 +107,20 @@ private:
 	}; // follow left side
 
 
-	Navigator *_navigator;
 	control::BlockParamFloat	_param_min_alt;
 	control::BlockParamFloat 	_param_tracking_dist;
 	control::BlockParamInt 		_param_tracking_side;
 	control::BlockParamFloat 	_param_tracking_resp;
-	control::BlockParamFloat 	_param_yaw_auto_max;
 
+	FollowTargetState _follow_target_state{SET_WAIT_FOR_TARGET_POSITION};
+	int _follow_target_position{FOLLOW_FROM_BEHIND};
 
-	FollowTargetState _follow_target_state;
-	int _follow_target_position;
+	int _follow_target_sub{-1};
+	float _step_time_in_ms{0.0f};
+	float _follow_offset{OFFSET_M};
 
-	int _follow_target_sub;
-	float _step_time_in_ms;
-	float _follow_offset;
-
-	uint64_t _target_updates;
-	uint64_t _last_update_time;
+	uint64_t _target_updates{0};
+	uint64_t _last_update_time{0};
 
 	math::Vector<3> _current_vel;
 	math::Vector<3> _step_vel;
@@ -138,15 +130,14 @@ private:
 	math::Vector<3> _target_position_delta;
 	math::Vector<3> _filtered_target_position_delta;
 
-	follow_target_s _current_target_motion;
-	follow_target_s _previous_target_motion;
-	float _yaw_rate;
-	float _responsiveness;
-	float _yaw_auto_max;
-	float _yaw_angle;
+	follow_target_s _current_target_motion{};
+	follow_target_s _previous_target_motion{};
+
+	float _yaw_rate{0.0f};
+	float _responsiveness{0.0f};
+	float _yaw_angle{0.0f};
 
 	// Mavlink defined motion reporting capabilities
-
 	enum {
 		POS = 0,
 		VEL = 1,
@@ -155,6 +146,7 @@ private:
 	};
 
 	math::Matrix<3, 3> _rot_matrix;
+
 	void track_target_position();
 	void track_target_velocity();
 	bool target_velocity_valid();

src/modules/navigator/gpsfailure.cpp

@@ -51,19 +51,13 @@
 using matrix::Eulerf;
 using matrix::Quatf;
 
-static constexpr float DELAY_SIGMA = 0.01f;
-
 GpsFailure::GpsFailure(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_param_loitertime(this, "LT"),
 	_param_openlooploiter_roll(this, "R"),
 	_param_openlooploiter_pitch(this, "P"),
-	_param_openlooploiter_thrust(this, "TR"),
-	_gpsf_state(GPSF_STATE_NONE),
-	_timestamp_activation(0)
+	_param_openlooploiter_thrust(this, "TR")
 {
-	/* initial reset */
-	on_inactive();
 }
 
 void

src/modules/navigator/gpsfailure.h

@@ -40,18 +40,11 @@
 #ifndef NAVIGATOR_GPSFAILURE_H
 #define NAVIGATOR_GPSFAILURE_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
-#include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-
 #include "mission_block.h"
 
 class Navigator;
 
-class GpsFailure : public MissionBlock
+class GpsFailure final : public MissionBlock
 {
 public:
 	GpsFailure(Navigator *navigator, const char *name);

src/modules/navigator/land.cpp

@@ -38,18 +38,6 @@
  * @author Andreas Antener <andreas@uaventure.com>
  */
 
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <fcntl.h>
-
-#include <systemlib/err.h>
-#include <systemlib/mavlink_log.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-
 #include "land.h"
 #include "navigator.h"
 
@@ -58,15 +46,6 @@ Land::Land(Navigator *navigator, const char *name) :
 {
 }
 
-Land::~Land()
-{
-}
-
-void
-Land::on_inactive()
-{
-}
-
 void
 Land::on_activation()
 {

src/modules/navigator/land.h

@@ -41,25 +41,17 @@
 #ifndef NAVIGATOR_LAND_H
 #define NAVIGATOR_LAND_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
 #include "navigator_mode.h"
 #include "mission_block.h"
 
-class Land : public MissionBlock
+class Land final : public MissionBlock
 {
 public:
 	Land(Navigator *navigator, const char *name);
+	~Land() = default;
 
-	~Land();
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
-
+	void on_activation() override;
+	void on_active() override;
 };
 
 #endif

src/modules/navigator/loiter.cpp

@@ -39,31 +39,12 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <fcntl.h>
-
-#include <geo/geo.h>
-
-#include <systemlib/mavlink_log.h>
-#include <systemlib/err.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-
 #include "loiter.h"
 #include "navigator.h"
 
 Loiter::Loiter(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
-	_param_yawmode(this, "MIS_YAWMODE", false),
-	_loiter_pos_set(false)
-{
-}
-
-Loiter::~Loiter()
+	_param_yawmode(this, "MIS_YAWMODE", false)
 {
 }
 

src/modules/navigator/loiter.h

@@ -41,25 +41,20 @@
 #ifndef NAVIGATOR_LOITER_H
 #define NAVIGATOR_LOITER_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
 #include "navigator_mode.h"
 #include "mission_block.h"
 
-class Loiter : public MissionBlock
+class Loiter final : public MissionBlock
 {
 public:
 	Loiter(Navigator *navigator, const char *name);
+	~Loiter() = default;
 
-	~Loiter();
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_inactive() override;
+	void on_activation() override;
+	void on_active() override;
 
+	// TODO: share this with mission
 	enum mission_yaw_mode {
 		MISSION_YAWMODE_NONE = 0,
 		MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
@@ -81,7 +76,8 @@ private:
 	void set_loiter_position();
 
 	control::BlockParamInt _param_yawmode;
-	bool _loiter_pos_set;
+
+	bool _loiter_pos_set{false};
 };
 
 #endif

src/modules/navigator/mission.h

@@ -51,8 +51,6 @@
 
 #include <cfloat>
 
-#include <controllib/block/BlockParam.hpp>
-#include <controllib/blocks.hpp>
 #include <dataman/dataman.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/home_position.h>
@@ -66,7 +64,7 @@
 
 class Navigator;
 
-class Mission : public MissionBlock
+class Mission final : public MissionBlock
 {
 public:
 	Mission(Navigator *navigator, const char *name);

src/modules/navigator/mission_block.cpp

@@ -55,11 +55,7 @@
 #include <uORB/topics/vtol_vehicle_status.h>
 
 MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
-	NavigatorMode(navigator, name),
-	_param_yaw_timeout(this, "MIS_YAW_TMT", false),
-	_param_yaw_err(this, "MIS_YAW_ERR", false),
-	_param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false),
-	_param_reverse_delay(this, "VT_B_REV_DEL", false)
+	NavigatorMode(navigator, name)
 {
 }
 
@@ -293,9 +289,11 @@ MissionBlock::is_mission_item_reached()
 				float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx +
 						       _navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
 
-				if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) {
-					mission_acceptance_radius = ((velocity / _param_back_trans_dec_mss.get() / 2) * velocity) + _param_reverse_delay.get() *
-								    velocity;
+				const float back_trans_dec = _navigator->get_vtol_back_trans_deceleration();
+				const float reverse_delay = _navigator->get_vtol_reverse_delay();
+
+				if (back_trans_dec > FLT_EPSILON && velocity > FLT_EPSILON) {
+					mission_acceptance_radius = ((velocity / back_trans_dec / 2) * velocity) + reverse_delay * velocity;
 
 				}
 
@@ -328,16 +326,16 @@ MissionBlock::is_mission_item_reached()
 			float yaw_err = _wrap_pi(_mission_item.yaw - cog);
 
 			/* accept yaw if reached or if timeout is set in which case we ignore not forced headings */
-			if (fabsf(yaw_err) < math::radians(_param_yaw_err.get())
-			    || (_param_yaw_timeout.get() >= FLT_EPSILON && !_mission_item.force_heading)) {
+			if (fabsf(yaw_err) < math::radians(_navigator->get_yaw_threshold())
+			    || (_navigator->get_yaw_timeout() >= FLT_EPSILON && !_mission_item.force_heading)) {
 
 				_waypoint_yaw_reached = true;
 			}
 
 			/* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */
 			if (!_waypoint_yaw_reached && _mission_item.force_heading &&
-			    (_param_yaw_timeout.get() >= FLT_EPSILON) &&
-			    (now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f)) {
+			    (_navigator->get_yaw_timeout() >= FLT_EPSILON) &&
+			    (now - _time_wp_reached >= (hrt_abstime)_navigator->get_yaw_timeout() * 1e6f)) {
 
 				_navigator->set_mission_failure("unable to reach heading within timeout");
 			}

src/modules/navigator/mission_block.h

@@ -42,8 +42,12 @@
 #define NAVIGATOR_MISSION_BLOCK_H
 
 #include "navigator_mode.h"
+#include "navigation.h"
 
-#include <navigator/navigation.h>
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+#include <drivers/drv_hrt.h>
+#include <systemlib/mavlink_log.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_command.h>
@@ -59,7 +63,7 @@ public:
 	 * Constructor
 	 */
 	MissionBlock(Navigator *navigator, const char *name);
-	~MissionBlock() = default;
+	virtual ~MissionBlock() = default;
 
 	MissionBlock(const MissionBlock &) = delete;
 	MissionBlock &operator=(const MissionBlock &) = delete;
@@ -130,13 +134,6 @@ protected:
 	hrt_abstime _time_wp_reached{0};
 
 	orb_advert_t    _actuator_pub{nullptr};
-
-	control::BlockParamFloat _param_yaw_timeout;
-	control::BlockParamFloat _param_yaw_err;
-
-	// VTOL parameters
-	control::BlockParamFloat _param_back_trans_dec_mss;
-	control::BlockParamFloat _param_reverse_delay;
 };
 
 #endif

src/modules/navigator/navigator.h

@@ -66,6 +66,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_land_detected.h>
@@ -250,6 +251,13 @@ public:
 
 	// Param access
 	float		get_loiter_min_alt() const { return _param_loiter_min_alt.get(); }
+	float		get_takeoff_min_alt() const { return _param_takeoff_min_alt.get(); }
+	float		get_yaw_timeout() const { return _param_yaw_timeout.get(); }
+	float		get_yaw_threshold() const { return _param_yaw_err.get(); }
+
+	float		get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss.get(); }
+	float		get_vtol_reverse_delay() const { return _param_reverse_delay.get(); }
+
 	bool		force_vtol() const { return _vstatus.is_vtol && !_vstatus.is_rotary_wing && _param_force_vtol.get(); }
 
 private:
@@ -330,7 +338,15 @@ private:
 	control::BlockParamInt _param_traffic_avoidance_mode;	/**< avoiding other aircraft is enabled */
 
 	// non-navigator parameters
+	// Mission (MIS_*)
 	control::BlockParamFloat _param_loiter_min_alt;
+	control::BlockParamFloat _param_takeoff_min_alt;
+	control::BlockParamFloat _param_yaw_timeout;
+	control::BlockParamFloat _param_yaw_err;
+
+	// VTOL parameters TODO: get these out of navigator
+	control::BlockParamFloat _param_back_trans_dec_mss;
+	control::BlockParamFloat _param_reverse_delay;
 
 	float _mission_cruising_speed_mc{-1.0f};
 	float _mission_cruising_speed_fw{-1.0f};

src/modules/navigator/navigator_main.cpp

@@ -105,7 +105,12 @@ Navigator::Navigator() :
 	_param_force_vtol(this, "FORCE_VT"),
 	_param_traffic_avoidance_mode(this, "TRAFF_AVOID"),
 	// non-navigator params
-	_param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false)
+	_param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false),
+	_param_takeoff_min_alt(this, "MIS_TAKEOFF_ALT", false),
+	_param_yaw_timeout(this, "MIS_YAW_TMT", false),
+	_param_yaw_err(this, "MIS_YAW_ERR", false),
+	_param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false),
+	_param_reverse_delay(this, "VT_B_REV_DEL", false)
 {
 	/* Create a list of our possible navigation types */
 	_navigation_mode_array[0] = &_mission;

src/modules/navigator/navigator_mode.h

@@ -42,15 +42,9 @@
 #ifndef NAVIGATOR_MODE_H
 #define NAVIGATOR_MODE_H
 
-#include <drivers/drv_hrt.h>
-
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-#include <dataman/dataman.h>
-
-#include <uORB/topics/position_setpoint_triplet.h>
-
 class Navigator;
 
 class NavigatorMode : public control::SuperBlock

src/modules/navigator/rcloss.cpp

@@ -53,18 +53,10 @@
 #include "navigator.h"
 #include "datalinkloss.h"
 
-#define DELAY_SIGMA	0.01f
-
 RCLoss::RCLoss(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_param_loitertime(this, "LT"),
 	_rcl_state(RCL_STATE_NONE)
-{
-	/* initial reset */
-	on_inactive();
-}
-
-RCLoss::~RCLoss()
 {
 }
 

src/modules/navigator/rcloss.h

@@ -40,28 +40,20 @@
 #ifndef NAVIGATOR_RCLOSS_H
 #define NAVIGATOR_RCLOSS_H
 
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-
-#include <uORB/Subscription.hpp>
-
 #include "navigator_mode.h"
 #include "mission_block.h"
 
 class Navigator;
 
-class RCLoss : public MissionBlock
+class RCLoss final : public MissionBlock
 {
 public:
 	RCLoss(Navigator *navigator, const char *name);
+	~RCLoss() = default;
 
-	~RCLoss();
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_inactive() override;
+	void on_activation() override;
+	void on_active() override;
 
 private:
 	/* Params */
@@ -72,7 +64,7 @@ private:
 		RCL_STATE_LOITER = 1,
 		RCL_STATE_TERMINATE = 2,
 		RCL_STATE_END = 3
-	} _rcl_state;
+	} _rcl_state{RCL_STATE_NONE};
 
 	/**
 	 * Set the RCL item

src/modules/navigator/rtl.cpp

@@ -167,7 +167,7 @@ RTL::set_rtl_item()
 			_mission_item.origin = ORIGIN_ONBOARD;
 
 			mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
-						     (int)(climb_alt), (int)(climb_alt - _navigator->get_home_position()->alt));
+						     (int)ceilf(climb_alt), (int)ceilf(climb_alt - _navigator->get_home_position()->alt));
 			break;
 		}
 
@@ -198,7 +198,7 @@ RTL::set_rtl_item()
 			_mission_item.origin = ORIGIN_ONBOARD;
 
 			mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
-						     (int)(_mission_item.altitude), (int)(_mission_item.altitude - home.alt));
+						     (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - home.alt));
 
 			break;
 		}
@@ -235,7 +235,7 @@ RTL::set_rtl_item()
 			pos_sp_triplet->previous.valid = false;
 
 			mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
-						     (int)(_mission_item.altitude), (int)(_mission_item.altitude - home.alt));
+						     (int)ceilf(_mission_item.altitude), (int)ceilf(_mission_item.altitude - home.alt));
 			break;
 		}
 

src/modules/navigator/rtl.h

@@ -46,7 +46,7 @@
 
 class Navigator;
 
-class RTL : public MissionBlock
+class RTL final : public MissionBlock
 {
 public:
 	RTL(Navigator *navigator, const char *name);

src/modules/navigator/takeoff.cpp

@@ -38,33 +38,11 @@
  * @author Lorenz Meier <lorenz@px4.io
  */
 
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <fcntl.h>
-
-#include <systemlib/mavlink_log.h>
-#include <systemlib/err.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-
 #include "takeoff.h"
 #include "navigator.h"
 
 Takeoff::Takeoff(Navigator *navigator, const char *name) :
-	MissionBlock(navigator, name),
-	_param_min_alt(this, "MIS_TAKEOFF_ALT", false)
-{
-}
-
-Takeoff::~Takeoff()
-{
-}
-
-void
-Takeoff::on_inactive()
+	MissionBlock(navigator, name)
 {
 }
 
@@ -106,10 +84,10 @@ Takeoff::set_takeoff_position()
 	float min_abs_altitude;
 
 	if (_navigator->home_position_valid()) { //only use home position if it is valid
-		min_abs_altitude = _navigator->get_global_position()->alt + _param_min_alt.get();
+		min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();
 
 	} else { //e.g. flow
-		min_abs_altitude = _param_min_alt.get();
+		min_abs_altitude = _navigator->get_takeoff_min_alt();
 	}
 
 	// Use altitude if it has been set. If home position is invalid use min_abs_altitude
@@ -120,22 +98,21 @@ Takeoff::set_takeoff_position()
 		if (abs_altitude < min_abs_altitude) {
 			abs_altitude = min_abs_altitude;
 			mavlink_log_critical(_navigator->get_mavlink_log_pub(),
-					     "Using minimum takeoff altitude: %.2f m", (double)_param_min_alt.get());
+					     "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
 		}
 
 	} else {
 		// Use home + minimum clearance but only notify.
 		abs_altitude = min_abs_altitude;
 		mavlink_log_info(_navigator->get_mavlink_log_pub(),
-				 "Using minimum takeoff altitude: %.2f m", (double)_param_min_alt.get());
+				 "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
 	}
 
 
 	if (abs_altitude < _navigator->get_global_position()->alt) {
 		// If the suggestion is lower than our current alt, let's not go down.
 		abs_altitude = _navigator->get_global_position()->alt;
-		mavlink_log_critical(_navigator->get_mavlink_log_pub(),
-				     "Already higher than takeoff altitude");
+		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude");
 	}
 
 	// set current mission item to takeoff

src/modules/navigator/takeoff.h

@@ -47,21 +47,16 @@
 #include "navigator_mode.h"
 #include "mission_block.h"
 
-class Takeoff : public MissionBlock
+class Takeoff final : public MissionBlock
 {
 public:
 	Takeoff(Navigator *navigator, const char *name);
+	~Takeoff() = default;
 
-	~Takeoff();
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_activation() override;
+	void on_active() override;
 
 private:
-	control::BlockParamFloat _param_min_alt;
 
 	void set_takeoff_position();
 };