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Fix VTOL stuck after back-transition in Mission Fast RTL

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AkaiEurus 2026-01-21 19:29:16 +08:00 committed by Silvan Fuhrer
parent 2a78d7dfd1
commit 618995da84
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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@ -169,8 +169,14 @@ void RtlMissionFast::setActiveMissionItems()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
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;
}
}