From 432b0e8c58821dd5a318061068aa4b3527d8619c Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 14 Jan 2026 19:27:47 +0100 Subject: [PATCH] rtl: adhere to parameter member naming convention --- src/modules/navigator/rtl.cpp | 12 ++++++------ src/modules/navigator/rtl.h | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 448f16eaa5..a4312d1441 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -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); diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index 4d437d17bd..349b29b0f8 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -240,11 +240,11 @@ private: DEFINE_PARAMETERS( (ParamInt) _param_rtl_type, - (ParamInt) _param_rtl_cone_half_angle_deg, + (ParamInt) _param_rtl_cone_ang, (ParamFloat) _param_rtl_return_alt, (ParamFloat) _param_rtl_min_dist, (ParamFloat) _param_nav_acc_rad, - (ParamInt) _param_rtl_approach_force + (ParamInt) _param_rtl_appr_force ) uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};