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rtl_mission_fast: supplement to #24115 (#26199)

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Co-authored-by: EurusAkai <1826983968@qq.com>
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Eurus 2026-01-21 16:49:31 +08:00 committed by GitHub
parent bbce142129
commit 5635d639fe
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1 changed files with 8 additions and 2 deletions
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10
src/modules/navigator/rtl_mission_fast.cpp
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@ -190,8 +190,14 @@ void RtlMissionFast::setActiveMissionItems()
pos_sp_triplet->previous = current_setpoint_copy;
}
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && isLanding() &&
_mission_item.nav_cmd == NAV_CMD_WAYPOINT) {
const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
&& isLanding() &&
_mission_item.nav_cmd == NAV_CMD_WAYPOINT;
const bool mc_landing_after_transition = _vehicle_status_sub.get().vehicle_type ==
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_status_sub.get().is_vtol &&
new_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
if (fw_on_mission_landing || mc_landing_after_transition) {
pos_sp_triplet->current.alt_acceptance_radius = FLT_MAX;
}
}