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RTL: only run initRtlMissionType() when new type is of any mission type

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Otherwise it kills the mission when the type jumps from mission to Home.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2026-01-23 15:54:28 +01:00
parent 7a6506f2dd
commit 32fc5cb5b9
1 changed files with 7 additions and 5 deletions
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12
src/modules/navigator/rtl.cpp
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@ -383,7 +383,13 @@ void RTL::setRtlTypeAndDestination()
_rtl_direct.setRtlAlt(rtl_alt);
_rtl_direct.setRtlPosition(destination, landing_loiter);
initRtlMissionType(new_rtl_type, rtl_alt);
const bool new_type_is_mission_based = (new_rtl_type == RtlType::RTL_MISSION_FAST)
|| (new_rtl_type == RtlType::RTL_MISSION_FAST_REVERSE)
|| (new_rtl_type == RtlType::RTL_DIRECT_MISSION_LAND);
if (new_type_is_mission_based && (_rtl_type != new_rtl_type)) {
initRtlMissionType(new_rtl_type, rtl_alt);
}
_rtl_type = new_rtl_type;
@ -621,10 +627,6 @@ float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, Destin
void RTL::initRtlMissionType(RtlType new_rtl_type, float rtl_alt)
{
if (_rtl_type == new_rtl_type) {
return;
}
if (_rtl_mission_type_handle) {
delete _rtl_mission_type_handle;
_rtl_mission_type_handle = nullptr;