Navigator: clean up get_rtl_type()

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/navigator/navigator.h

@@ -286,8 +286,7 @@ public:
 	float 	get_mission_landing_alt() { return _mission.get_landing_alt(); }
 
 	// RTL
-	bool		mission_landing_required() { return _rtl.rtl_type() == RTL::RTL_LAND; }
-	int			rtl_type() { return _rtl.rtl_type(); }
+	bool		mission_landing_required() { return _rtl.get_rtl_type() == RTL::RTL_LAND; }
 	bool		in_rtl_state() const { return _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; }
 
 	bool		abort_landing();

src/modules/navigator/navigator_main.cpp

@@ -573,11 +573,11 @@ Navigator::run()
 
 				const bool rtl_activated = _previous_nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
-				switch (rtl_type()) {
+				switch (_rtl.get_rtl_type()) {
 				case RTL::RTL_LAND: // use mission landing
 				case RTL::RTL_CLOSEST:
 					if (rtl_activated) {
-						if (rtl_type() == RTL::RTL_LAND) {
+						if (_rtl.get_rtl_type() == RTL::RTL_LAND) {
 							mavlink_log_info(get_mavlink_log_pub(), "RTL LAND activated\t");
 							events::send(events::ID("navigator_rtl_landing_activated"), events::Log::Info, "RTL activated");
 

src/modules/navigator/rtl.cpp

@@ -116,7 +116,7 @@ void RTL::find_RTL_destination()
 
 
 	// consider the mission landing if not RTL_HOME type set
-	if (rtl_type() != RTL_HOME && _navigator->get_mission_start_land_available()) {
+	if (_param_rtl_type.get() != RTL_HOME && _navigator->get_mission_start_land_available()) {
 		double mission_landing_lat;
 		double mission_landing_lon;
 		float mission_landing_alt;
@@ -138,7 +138,7 @@ void RTL::find_RTL_destination()
 		double dist_squared = coord_dist_sq(dlat, dlon);
 
 		// set destination to mission landing if closest or in RTL_LAND or RTL_MISSION (so not in RTL_CLOSEST)
-		if (dist_squared < min_dist_squared || rtl_type() != RTL_CLOSEST) {
+		if (dist_squared < min_dist_squared || _param_rtl_type.get() != RTL_CLOSEST) {
 			min_dist_squared = dist_squared;
 			_destination.lat = mission_landing_lat;
 			_destination.lon = mission_landing_lon;
@@ -148,7 +148,7 @@ void RTL::find_RTL_destination()
 	}
 
 	// do not consider rally point if RTL type is set to RTL_MISSION, so exit function and use either home or mission landing
-	if (rtl_type() == RTL_MISSION) {
+	if (_param_rtl_type.get() == RTL_MISSION) {
 		return;
 	}
 

src/modules/navigator/rtl.h

@@ -91,7 +91,7 @@ public:
 
 	void set_return_alt_min(bool min) { _rtl_alt_min = min; }
 
-	int rtl_type() const { return _param_rtl_type.get(); }
+	int get_rtl_type() const { return _param_rtl_type.get(); }
 
 	int rtl_destination();