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RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-05-27 12:03:16 +02:00
parent b9d3b9f211
commit 42bca65cbf
2 changed files with 20 additions and 2 deletions
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src/modules/navigator/rtl_mission_fast_reverse.cpp
+17 -2
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@@ -52,12 +52,27 @@ RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator) :
}
void RtlMissionFastReverse::on_inactive()
{
MissionBase::on_inactive();
_vehicle_status_sub.update();
_mission_index_prior_rtl = _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ?
_mission.current_seq : -1;
}
void RtlMissionFastReverse::on_activation()
{
_home_pos_sub.update();
_is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
_global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK;
// set mission item to closest item if not already in mission. If we are in mission, set to the previous item.
if (_mission_index_prior_rtl < 0) {
_is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
_global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK;
} else {
setMissionIndex(math::max(_mission_index_prior_rtl - 1, 0));
_is_current_planned_mission_item_valid = isMissionValid();
}
if (_land_detected_sub.get().landed) {
// already landed, no need to do anything, invalidate the position mission item.