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RTL: Always publish available approaches from home and rally points irrespective of rtly type

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Konrad 2025-03-05 18:23:01 +01:00 committed by KonradRudin
parent 901ef4aef5
commit c83fd11924
1 changed files with 1 additions and 8 deletions
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9
src/modules/navigator/rtl.cpp
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@ -360,14 +360,7 @@ void RTL::setRtlTypeAndDestination()
_rtl_status_pub.get().timestamp = hrt_absolute_time();
_rtl_status_pub.get().safe_points_id = _safe_points_id;
_rtl_status_pub.get().is_evaluation_pending = _dataman_state != DatamanState::UpdateRequestWait;
_rtl_status_pub.get().has_vtol_approach = false;
if ((_param_rtl_type.get() == 0) || (_param_rtl_type.get() == 3)) {
_rtl_status_pub.get().has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach;
} else if (_param_rtl_type.get() == 1) {
_rtl_status_pub.get().has_vtol_approach = _one_rally_point_has_land_approach;
}
_rtl_status_pub.get().has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach;
_rtl_status_pub.get().rtl_type = static_cast<uint8_t>(_rtl_type);
_rtl_status_pub.get().safe_point_index = safe_point_index;