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Navigator: Set altitude acceptance radius to infinity when moving to land point after transition (#24115)

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* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2024-12-20 11:21:32 +03:00
committed by GitHub
parent 61961350f9
commit b765769f50
5 changed files with 31 additions and 6 deletions
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src/modules/navigator/rtl_direct.cpp
+1
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@@ -355,6 +355,7 @@ void RtlDirect::set_rtl_item()
pos_yaw_sp.alt = loiter_altitude;
pos_yaw_sp.yaw = !_param_wv_en.get() ? _destination.yaw : NAN; // set final yaw if weather vane is disabled
altitude_acceptance_radius = FLT_MAX;
setMoveToPositionMissionItem(_mission_item, pos_yaw_sp);
_navigator->reset_position_setpoint(pos_sp_triplet->previous);