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rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

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Konrad
2023-10-31 14:16:02 +01:00
committed by Roman Bapst
parent 698c57c5f8
commit c1214c847f
13 changed files with 215 additions and 384 deletions
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src/modules/navigator/mission_block.cpp
+12
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@@ -1059,3 +1059,15 @@ float MissionBlock::setYawFromHeadingMode(const DestinationPosition &dest, Headi
return desired_yaw;
}
void MissionBlock::startPrecLand(uint16_t land_precision)
{
if (_mission_item.land_precision == 1) {
_navigator->get_precland()->set_mode(PrecLandMode::Opportunistic);
_navigator->get_precland()->on_activation();
} else { //_mission_item.land_precision == 2
_navigator->get_precland()->set_mode(PrecLandMode::Required);
_navigator->get_precland()->on_activation();
}
}