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Change to work more like mission.cpp

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This commit is contained in:
Matthew Berk
2025-09-24 16:15:51 +00:00
parent 4000180cc9
commit d2313f9231
1 changed files with 7 additions and 1 deletions
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src/modules/navigator/rtl_direct_mission_land.cpp
+7 -1
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@@ -122,6 +122,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
{
WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;
// Climb to altitude
if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
@@ -205,7 +206,6 @@ void RtlDirectMissionLand::setActiveMissionItems()
_mission_item.time_inside = 0.0f;
}
pos_sp_triplet->previous = pos_sp_triplet->current;
if (num_found_items > 0) {
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
@@ -213,6 +213,12 @@ void RtlDirectMissionLand::setActiveMissionItems()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
// Only set the previous position item if the current one really changed
if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
!position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
pos_sp_triplet->previous = current_setpoint_copy;
}
// prevent lateral guidance from loitering at a waypoint as part of a mission landing if the altitude
// is not achieved.
const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING