From a737036633764b760d36828d16378dedbe0faed1 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 6 Aug 2024 23:38:38 +0200 Subject: [PATCH] RTLDirect: check for terrain collision in every state of RTL beside when landing Signed-off-by: Silvan Fuhrer --- src/modules/navigator/rtl_direct.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index 52e853733e..62a940f6c0 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -104,8 +104,9 @@ void RtlDirect::on_active() set_rtl_item(); } - if (_rtl_state == RTLState::LOITER_HOLD) { //TODO: rename _rtl_state to _rtl_state_next + if (_rtl_state != RTLState::IDLE) { //TODO: rename _rtl_state to _rtl_state_next (when in IDLE we're actually in LAND) //check for terrain collision and update altitude if needed + // note: it may trigger multiple times during a RTL, as every time the altitude set is reset updateAltToAvoidTerrainCollisionAndRepublishTriplet(_mission_item); }