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RTL: Keep only the selected RTL type in memory.

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This commit is contained in:
Konrad
2023-09-29 14:25:03 +02:00
committed by Silvan Fuhrer
parent d4ea106f9e
commit 5c021d8fa4
11 changed files with 192 additions and 97 deletions
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src/modules/navigator/rtl_direct_mission_land.cpp
+3 -3
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@@ -47,12 +47,12 @@
static constexpr int32_t DEFAULT_DIRECT_MISSION_LAND_CACHE_SIZE = 5;
RtlDirectMissionLand::RtlDirectMissionLand(Navigator *navigator) :
MissionBase(navigator, DEFAULT_DIRECT_MISSION_LAND_CACHE_SIZE)
RtlBase(navigator, DEFAULT_DIRECT_MISSION_LAND_CACHE_SIZE)
{
}
void RtlDirectMissionLand::on_activation(bool enforce_rtl_alt)
void RtlDirectMissionLand::on_activation()
{
_land_detected_sub.update();
_global_pos_sub.update();
@@ -62,7 +62,7 @@ void RtlDirectMissionLand::on_activation(bool enforce_rtl_alt)
if (hasMissionLandStart()) {
_is_current_planned_mission_item_valid = (goToItem(_mission.land_start_index, false) == PX4_OK);
if ((_global_pos_sub.get().alt < _rtl_alt) || enforce_rtl_alt) {
if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) {
// If lower than return altitude, climb up first.
// If enforce_rtl_alt is true then forcing altitude change even if above.