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Navigator: clean up get_rtl_type()

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-05 17:58:21 +03:00
committed by Roman Bapst
parent 8dc6d5f208
commit a012f01dbc
4 changed files with 7 additions and 8 deletions
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src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -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");