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RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW

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Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-12-11 18:05:24 +01:00 committed by Lorenz Meier
parent 0b86c11c66
commit 92634e7549
1 changed files with 9 additions and 1 deletions
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10
src/modules/navigator/rtl.cpp
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@ -319,7 +319,15 @@ void RTL::set_rtl_item()
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
// do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to at least MIS_LTRMIN_ALT,
// even if current climb altitude is below (e.g. RTL immediately after take off)
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
} else {
_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
}
_mission_item.lat = gpos.lat;
_mission_item.lon = gpos.lon;
_mission_item.altitude = _rtl_alt;