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rtl: don't fly mission landing if we trigger rtl in hover

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-03-11 15:23:31 +03:00
committed by Roman Bapst
parent 58bd3d0c60
commit 58a4c38519
3 changed files with 10 additions and 21 deletions
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src/modules/navigator/rtl.cpp
+7 -19
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@@ -242,6 +242,13 @@ void RTL::find_RTL_destination()
void RTL::on_activation()
{
setClimbAndReturnDone(false);
// if a mission landing is desired we should only execute mission navigation mode if we currently are in fw mode
// In multirotor mode no landing pattern is required so we can just navigate to the land point directly and don't need to run mission
_should_engange_mission_for_landing = (_destination.type == RTL_DESTINATION_MISSION_LANDING)
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
// output the correct message, depending on where the RTL destination is
switch (_destination.type) {
case RTL_DESTINATION_HOME:
@@ -318,25 +325,6 @@ void RTL::on_active()
void RTL::set_rtl_item()
{
// RTL_TYPE: mission landing.
// Landing using planned mission landing, fly to DO_LAND_START instead of returning _destination.
// After reaching DO_LAND_START, do nothing, let navigator takeover with mission landing.
if (_destination.type == RTL_DESTINATION_MISSION_LANDING) {
if (_rtl_state > RTL_STATE_RETURN) {
if (_navigator->start_mission_landing()) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing\t");
events::send(events::ID("rtl_using_mission_landing"), events::Log::Info, "RTL: using mission landing");
return;
} else {
// Otherwise use regular RTL.
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unable to use mission landing\t");
events::send(events::ID("rtl_not_using_mission_landing"), events::Log::Error,
"RTL: unable to use mission landing, doing regular RTL");
}
}
}
_navigator->set_can_loiter_at_sp(false);
const vehicle_global_position_s &gpos = *_navigator->get_global_position();