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navigator: home_positionvalid -> global_home_position_valid

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This is to make clear that the relevant part of the home position
message for navigator is the global one. Local home position isn't
required as everything is done in global coordinates.
The specific home_alt_valid is used when lat/lon are not used
This commit is contained in:
bresch
2022-04-19 15:29:25 +02:00
committed by Mathieu Bresciani
parent d2f2ba59a4
commit 3f3a4ac5c1
8 changed files with 20 additions and 15 deletions
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src/modules/navigator/rtl.cpp
+2 -2
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@@ -83,7 +83,7 @@ void RTL::on_inactive()
if ((hrt_absolute_time() - _destination_check_time) > 1_s) {
_destination_check_time = hrt_absolute_time();
if (_navigator->home_position_valid()) {
if (_navigator->home_global_position_valid()) {
find_RTL_destination();
}
@@ -723,7 +723,7 @@ void RTL::calc_and_pub_rtl_time_estimate()
// Calculate RTL time estimate only when there is a valid home position
// TODO: Also check if vehicle position is valid
if (!_navigator->home_position_valid()) {
if (!_navigator->home_global_position_valid()) {
rtl_time_estimate.valid = false;
} else {