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

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This commit is contained in:
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/rtl_mission_fast_reverse.cpp
+3 -16
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@@ -54,6 +54,8 @@ RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator) :
void RtlMissionFastReverse::on_activation()
{
_home_pos_sub.update();
_is_current_planned_mission_item_valid = setMissionToClosestItem(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
_global_pos_sub.get().alt, _home_pos_sub.get().alt, _vehicle_status_sub.get()) == PX4_OK;
@@ -71,12 +73,6 @@ void RtlMissionFastReverse::on_active()
MissionBase::on_active();
}
void RtlMissionFastReverse::on_inactive()
{
_home_pos_sub.update();
MissionBase::on_inactive();
}
bool RtlMissionFastReverse::setNextMissionItem()
{
return (goToPreviousPositionItem(true) == PX4_OK);
@@ -227,7 +223,7 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
_mission_item.yaw = NAN;
if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) &&
do_need_move_to_land()) {
do_need_move_to_item()) {
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
_mission_item.altitude = _global_pos_sub.get().alt;
@@ -249,15 +245,6 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
}
}
bool RtlMissionFastReverse::do_need_move_to_land()
{
float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
_global_pos_sub.get().lat, _global_pos_sub.get().lon);
return d_current > _navigator->get_acceptance_radius();
}
rtl_time_estimate_s RtlMissionFastReverse::calc_rtl_time_estimate()
{
rtl_time_estimate_s time_estimate;