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RTL: set WP type to LOITER_TO_ALT for FW in Return stage

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Such that the loiter (orbit) status can be displayed on groundstation
and the WP is accepted once within loiter radius

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-14 17:46:04 +02:00
committed by Daniel Agar
parent 5f0fc7aaf1
commit e9f349a2fc
1 changed files with 12 additions and 3 deletions
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src/modules/navigator/rtl.cpp
+12 -3
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@@ -371,11 +371,20 @@ void RTL::set_rtl_item()
}
case RTL_STATE_RETURN: {
// Don't change altitude.
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
// For FW flight:set to LOITER_TIME (with 0s loiter time), such that the loiter (orbit) status
// can be displayed on groundstation and the WP is accepted once within loiter radius
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.loiter_radius = landing_loiter_radius;
} else {
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
}
_mission_item.lat = _destination.lat;
_mission_item.lon = _destination.lon;
_mission_item.altitude = _rtl_alt;
_mission_item.altitude = _rtl_alt; // Don't change altitude
_mission_item.altitude_is_relative = false;
if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING &&