This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.
* Fix position setpoint update logic in Mission RTL
Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)
* Change to work more like `mission.cpp`
* Fix rtl_direct_misssion_land formatting for style guide
* rtl_mission_fast: fix FW landing by setting previous wp in landing
Signed-off-by: Silvan <silvan@auterion.com>
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Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
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Co-authored-by: Alexander Lerach <alexander@auterion.com>
During a mission the last waypoint is often a LAND. If the previous waypoint is not directly above the land waypoint the offtrack calculation is incorrect. This regression was introduced when the offtrack calculation switched from 2D to 3D.
* mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth links
* calculate delay based on rate
* fixed transmit time calc & not delay single mode send
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Co-authored-by: Alexander Lerach <alexander@auterion.com>
Co-authored-by: bkueng <beat-kueng@gmx.net>
* ci: docs try again
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: try to fix docs deploy syntax
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: test for main and release/1.16
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: lockdown gcc v9 for macos
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* pxh: do not use variable sized array on the stack
This is a compiler-specific extension
* ci: macos build on older gcc
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
* [Docs] PX4 v1.16 Add warning for RTL mode issues in return.md
Added a warning about known issues with RTL mode during fixed-wing approaches and landings.
* Apply suggestion from @hamishwillee
* Apply suggestion from @hamishwillee
* MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint
* Apply suggestions from code review
* Cleanup & address review comments
* Safegaurd against using old setpoint if states aren't valid anymore
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
