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RTL fast reverse: enable precision landing

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2025-01-08 09:31:55 +01:00
parent 368bbfeb3b
commit d98a706380
3 changed files with 13 additions and 1 deletions
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src/modules/navigator/rtl_mission_fast_reverse.cpp
+7
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@@ -269,6 +269,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
_mission_item.altitude = _home_pos_sub.get().alt;
_mission_item.altitude_is_relative = false;
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
_mission_item.land_precision = _param_rtl_pld_md.get();
if (_mission_item.land_precision > 0) {
startPrecLand(_mission_item.land_precision);
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND;
}
}
}
}