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RTL: rename enum names for RTLType

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 16:40:16 +02:00
committed by Roman Bapst
parent a012f01dbc
commit dd987c08a5
4 changed files with 15 additions and 15 deletions
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src/modules/navigator/rtl.cpp
+6 -6
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@@ -115,8 +115,8 @@ void RTL::find_RTL_destination()
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
// consider the mission landing if not RTL_HOME type set
if (_param_rtl_type.get() != RTL_HOME && _navigator->get_mission_start_land_available()) {
// consider the mission landing if not RTL_TYPE_HOME_ONLY type set
if (_param_rtl_type.get() != RTL_TYPE_HOME_ONLY && _navigator->get_mission_start_land_available()) {
double mission_landing_lat;
double mission_landing_lon;
float mission_landing_alt;
@@ -137,8 +137,8 @@ void RTL::find_RTL_destination()
dlon = mission_landing_lon - global_position.lon;
double dist_squared = coord_dist_sq(dlat, dlon);
// set destination to mission landing if closest or in RTL_LAND or RTL_MISSION (so not in RTL_CLOSEST)
if (dist_squared < min_dist_squared || _param_rtl_type.get() != RTL_CLOSEST) {
// set destination to mission landing if closest or in RTL_TYPE_MISSION_LANDING or RTL_TYPE_MISSION_LANDING_REVERSED (so not in RTL_TYPE_CLOSEST)
if (dist_squared < min_dist_squared || _param_rtl_type.get() != RTL_TYPE_CLOSEST) {
min_dist_squared = dist_squared;
_destination.lat = mission_landing_lat;
_destination.lon = mission_landing_lon;
@@ -147,8 +147,8 @@ void RTL::find_RTL_destination()
}
}
// do not consider rally point if RTL type is set to RTL_MISSION, so exit function and use either home or mission landing
if (_param_rtl_type.get() == RTL_MISSION) {
// do not consider rally point if RTL type is set to RTL_TYPE_MISSION_LANDING_REVERSED, so exit function and use either home or mission landing
if (_param_rtl_type.get() == RTL_TYPE_MISSION_LANDING_REVERSED) {
return;
}