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abort front transition in vtol module instead of in navigator/rtl.cpp

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This commit is contained in:
thomas
2022-10-21 14:17:19 +02:00
committed by Silvan Fuhrer
parent 26c36a96f2
commit f9f466854b
3 changed files with 24 additions and 17 deletions
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src/modules/navigator/rtl.cpp
+1 -11
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@@ -229,8 +229,7 @@ void RTL::find_RTL_destination()
}
if (_param_rtl_cone_half_angle_deg.get() > 0
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_navigator->get_vstatus()->in_transition_to_fw) {
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
} else {
@@ -242,15 +241,6 @@ void RTL::on_activation()
{
_rtl_state = RTL_STATE_NONE;
// send a back transition command in case we're doing a front transition to abort the FT
if (_navigator->get_vstatus()->in_transition_to_fw) {
vehicle_command_s cmd {};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
cmd.param1 = (float)(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
cmd.param2 = 0.0f;
_navigator->publish_vehicle_cmd(&cmd);
}
// if a mission landing is desired we should only execute mission navigation mode if we currently are in fw mode
// In multirotor mode no landing pattern is required so we can just navigate to the land point directly and don't need to run mission
_should_engange_mission_for_landing = (_destination.type == RTL_DESTINATION_MISSION_LANDING)