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navigator: RTL don't get invalid params

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This commit is contained in:
Daniel Agar
2021-02-13 00:34:56 +01:00
committed by Lorenz Meier
parent 1981519aad
commit ce552a3364
2 changed files with 11 additions and 10 deletions
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src/modules/navigator/rtl.cpp
+8 -8
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@@ -642,27 +642,27 @@ void RTL::get_rtl_xy_z_speed(float &xy, float &z)
switch (vehicle_type) {
case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
_rtl_xy_speed = param_find("MPC_XY_CRUISE");
_rtl_descent_speed = param_find("MPC_Z_VEL_MAX_DN");
_param_rtl_xy_speed = param_find("MPC_XY_CRUISE");
_param_rtl_descent_speed = param_find("MPC_Z_VEL_MAX_DN");
break;
case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
_rtl_xy_speed = param_find("FW_AIRSPD_TRIM");
_rtl_descent_speed = param_find("FW_T_SINK_MIN");
_param_rtl_xy_speed = param_find("FW_AIRSPD_TRIM");
_param_rtl_descent_speed = param_find("FW_T_SINK_MIN");
break;
case vehicle_status_s::VEHICLE_TYPE_ROVER:
_rtl_xy_speed = param_find("GND_SPEED_THR_SC");
_rtl_descent_speed = 65535;
_param_rtl_xy_speed = param_find("GND_SPEED_THR_SC");
_param_rtl_descent_speed = PARAM_INVALID;
break;
}
}
if (param_get(_rtl_xy_speed, &xy) != 0) {
if ((_param_rtl_xy_speed == PARAM_INVALID) || param_get(_param_rtl_xy_speed, &xy) != PX4_OK) {
xy = 1e6f;
}
if (param_get(_rtl_descent_speed, &z) != 0) {
if ((_param_rtl_descent_speed == PARAM_INVALID) || param_get(_param_rtl_descent_speed, &z) != PX4_OK) {
z = 1e6f;
}