-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* FixedWingPositionControl: split vtol backtransition logic into separate method
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* review changes
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* removed unused parameter
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* small renaming of transition mode
Signed-off-by: RomanBapst <bapstroman@gmail.com>
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Dataman: Add write function to dataman cache.
RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
Silvan Fuhrer