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RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding()

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The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-05 17:58:21 +03:00
committed by Roman Bapst
parent ab08bbdb58
commit f4f9b8ebf2
3 changed files with 6 additions and 10 deletions
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src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -589,8 +589,8 @@ Navigator::run()
}
if (!rtl_activated && !_rtl.denyMissionLanding() && _rtl.getClimbAndReturnDone()
&& get_mission_start_land_available()) {
if (!rtl_activated && _rtl.getClimbAndReturnDone()
&& _rtl.getDestinationTypeMissionLanding()) {
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (!getMissionLandingInProgress() && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED