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refactor(navigator): remove unused parameters from computeReturnAltitude (#26969)

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* Remove unused parameters from function signature and make the parameter accessors consistent

* Update the caller function signature

* Update src/modules/navigator/rtl.cpp

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
Anil Kircaliali 2026-04-04 12:45:22 -07:00 committed by GitHub
parent 550b7148a5
commit 83c41dcf87
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2 changed files with 5 additions and 6 deletions
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6
src/modules/navigator/rtl.cpp
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@ -394,7 +394,7 @@ void RTL::setRtlTypeAndDestination()
}
}
const float rtl_alt = computeReturnAltitude(destination, destination_type, (float)_param_rtl_cone_ang.get());
const float rtl_alt = computeReturnAltitude(destination);
_rtl_direct.setRtlAlt(rtl_alt);
_rtl_direct.setRtlPosition(destination, landing_loiter);
@ -579,7 +579,7 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mis
}
}
float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const
float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position) const
{
if (_param_rtl_cone_ang.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// horizontal distance to destination
@ -602,7 +602,7 @@ float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, Destin
if (destination_dist <= _param_rtl_min_dist.get()) {
// constrain cone half angle to meaningful values. All other cases are already handled above.
const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f));
const float cone_half_angle_rad = radians(constrain((float)_param_rtl_cone_ang.get(), 1.0f, 89.0f));
// minimum altitude we need in order to be within the user defined cone
const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + rtl_position.alt;

5
src/modules/navigator/rtl.h
View File

@ -155,11 +155,10 @@ private:
* @brief calculate return altitude from return altitude parameter, current altitude and cone angle
*
* @param[in] rtl_position landing position of the rtl
* @param[in] destination_type type of the rtl destination
* @param[in] cone_half_angle_deg half angle of the cone [deg]
*
* @return return altitude
*/
float computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const;
float computeReturnAltitude(const PositionYawSetpoint &rtl_position) const;
/**
* @brief initialize RTL mission type