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rtl: adhere to parameter member naming convention

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This commit is contained in:
Matthias Grob
2026-01-23 17:16:42 +01:00
committed by Silvan Fuhrer
parent 024b3d27ac
commit 432b0e8c58
2 changed files with 8 additions and 8 deletions
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src/modules/navigator/rtl.cpp
+6 -6
View File
@@ -350,7 +350,7 @@ void RTL::setRtlTypeAndDestination()
// set rtl altitude to the destination from the beginning for DestinationType::DESTINATION_TYPE_LAST_LINK_POSITION
const float rtl_alt = destination_type == DestinationType::DESTINATION_TYPE_SAFE_POINT ? computeReturnAltitude(rtl_position,
(float)_param_rtl_cone_half_angle_deg.get()) : rtl_position.alt;
(float)_param_rtl_cone_ang.get()) : rtl_position.alt;
loiter_point_s landing_loiter;
landing_loiter.lat = rtl_position.lat;
@@ -374,7 +374,7 @@ void RTL::setRtlTypeAndDestination()
DestinationType destination_type{DestinationType::DESTINATION_TYPE_HOME};
PositionYawSetpoint rtl_position;
findRtlDestination(destination_type, rtl_position, safe_point_index);
const float rtl_alt = computeReturnAltitude(rtl_position, (float)_param_rtl_cone_half_angle_deg.get());
const float rtl_alt = computeReturnAltitude(rtl_position, (float)_param_rtl_cone_ang.get());
switch (destination_type) {
case DestinationType::DESTINATION_TYPE_MISSION_LAND:
@@ -450,7 +450,7 @@ void RTL::findClosestSafePoint(PositionYawSetpoint &rtl_position, uint8_t &safe_
_one_rally_point_has_land_approach |= current_safe_point_has_approaches;
if (((dist + MIN_DIST_THRESHOLD) < min_dist) && ((_param_rtl_approach_force.get() == 0)
if (((dist + MIN_DIST_THRESHOLD) < min_dist) && ((_param_rtl_appr_force.get() == 0)
|| current_safe_point_has_approaches)) {
min_dist = dist;
rtl_position = safepoint_position;
@@ -483,7 +483,7 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo
_home_has_land_approach = hasVtolLandApproach(rtl_position);
if (((_param_rtl_type.get() == 1) && !vtol_in_rw_mode) || (vtol_in_fw_mode && (_param_rtl_approach_force.get() == 1)
if (((_param_rtl_type.get() == 1) && !vtol_in_rw_mode) || (vtol_in_fw_mode && (_param_rtl_appr_force.get() == 1)
&& !_home_has_land_approach)) {
// Set minimum distance to maximum value when RTL_TYPE is set to 1 and we are not in RW mode or we forces approach landing for vtol in fw and it is not defined for home.
min_dist = FLT_MAX;
@@ -553,7 +553,7 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo
_one_rally_point_has_land_approach |= current_safe_point_has_approaches;
if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_approach_force.get() == 0)
if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_appr_force.get() == 0)
|| current_safe_point_has_approaches)) {
min_dist = dist;
rtl_position = safepoint_position;
@@ -603,7 +603,7 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mis
float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, float cone_half_angle_deg) const
{
if (_param_rtl_cone_half_angle_deg.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_param_rtl_cone_ang.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// horizontal distance to destination
const float destination_dist =
get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, rtl_position.lat, rtl_position.lon);
src/modules/navigator/rtl.h
+2 -2
View File
@@ -240,11 +240,11 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::RTL_TYPE>) _param_rtl_type,
(ParamInt<px4::params::RTL_CONE_ANG>) _param_rtl_cone_half_angle_deg,
(ParamInt<px4::params::RTL_CONE_ANG>) _param_rtl_cone_ang,
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,
(ParamInt<px4::params::RTL_APPR_FORCE>) _param_rtl_approach_force
(ParamInt<px4::params::RTL_APPR_FORCE>) _param_rtl_appr_force
)
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};