rework(navigator): let navigator handle mission route cache updates

src/modules/navigator/Kconfig

@@ -60,5 +60,3 @@ menuconfig NAVIGATOR_ADSB_FAKE_TRAFFIC
 	---help---
 		Adds the `navigator fake_traffic` shell command and the scripted scenarios
 		used to validate the Detect and Avoid pipeline without a real transponder.
-		Add support for acting on ADSB transponder_report or ADSB_VEHICLE MAVLink messages.
-		Actions are warnings, Loiter, Land and RTL without climb.

src/modules/navigator/navigator_main.cpp

@@ -249,6 +249,7 @@ void Navigator::run()
 	fds[2].events = POLLIN;
 
 	uint32_t geofence_id{0};
+	mission_s mission{};
 
 	/* rate-limit position subscription to 20 Hz / 50 ms */
 	orb_set_interval(_local_pos_sub, 50);
@@ -274,7 +275,6 @@ void Navigator::run()
 		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus);
 
 		if (fds[2].revents & POLLIN) {
-			mission_s mission;
 			orb_copy(ORB_ID(mission), _mission_sub, &mission);
 
 			if (mission.geofence_id != geofence_id) {
@@ -284,6 +284,8 @@ void Navigator::run()
 
 		}
 
+		_mission_route_cache.update(mission);
+
 		/* gps updated */
 		if (_gps_pos_sub.updated()) {
 			_gps_pos_sub.copy(&_gps_pos);

src/modules/navigator/rtl.cpp

@@ -74,11 +74,6 @@ RTL::RTL(Navigator *navigator) :
 	_rtl_direct.initialize();
 }
 
-void RTL::updateDatamanCache()
-{
-	_navigator->get_mission_route_cache().update(_mission_sub.get());
-}
-
 void RTL::on_inactive()
 {
 	_global_pos_sub.update();
@@ -87,8 +82,6 @@ void RTL::on_inactive()
 	_home_pos_sub.update();
 	_wind_sub.update();
 
-	updateDatamanCache();
-
 	parameters_update();
 
 	if (_rtl_mission_type_handle) {
@@ -147,8 +140,6 @@ void RTL::on_activation()
 	_home_pos_sub.update();
 	_wind_sub.update();
 
-	updateDatamanCache();
-
 	setRtlTypeAndDestination();
 
 	switch (_rtl_type) {
@@ -193,8 +184,6 @@ void RTL::on_active()
 	_home_pos_sub.update();
 	_wind_sub.update();
 
-	updateDatamanCache();
-
 	switch (_rtl_type) {
 	case RtlType::RTL_MISSION_FAST:
 		[[fallthrough]];

src/modules/navigator/rtl.h

@@ -112,11 +112,6 @@ private:
 	 */
 	bool reverseIsFurther() const;
 
-	/**
-	 * @brief Refresh the safe-point and land-item cache used by RTL destination selection.
-	 */
-	void updateDatamanCache();
-
 	void setRtlTypeAndDestination();
 
 	/**