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Navigator: RTL reverse: when landing set next to invalid

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This makes sure that there is no weird line following logic executed
by the flight task when the vehicle should just come down vertical
for landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-06-06 15:47:35 +02:00
committed by Matthias Grob
parent 64989c3b8d
commit ff87361ffa
1 changed files with 5 additions and 6 deletions
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src/modules/navigator/rtl_mission_fast_reverse.cpp
+5 -6
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@@ -251,6 +251,11 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
_mission_item.lon = _home_pos_sub.get().lon;
_mission_item.yaw = NAN;
// make previous and next setpoints invalid, such that there will be no line following.
// If the vehicle drifted off the path during back-transition it should just go straight to the landing point.
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
_navigator->reset_position_setpoint(pos_sp_triplet->next);
if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) &&
do_need_move_to_item()) {
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
@@ -261,15 +266,9 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
// make previous setpoint invalid, such that there will be no prev-current line following.
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
} else {
_mission_item.altitude = _home_pos_sub.get().alt;
_mission_item.altitude_is_relative = false;
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
_navigator->reset_position_setpoint(pos_sp_triplet->next);
_mission_item.land_precision = _param_rtl_pld_md.get();