fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 04:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Navigator: clean up get_rtl_type()

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 16:35:32 +02:00
committed by Roman Bapst
parent 8dc6d5f208
commit a012f01dbc
4 changed files with 7 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+3 -3
View File
@@ -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;
}