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mission: skip a vtol takoff mission item if already in air (#23319)

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* mission: skip a vtol takoff mission item if already in air and a fixed wing

* MissionBase: also skip FW takeoff when already in-air

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* mission: use setNextMissionItem to skip vtol takeoff when already in air

* mission: Only skip the VTOL takeoff in air for mission and rtl mission

If flying RTL mission reverse it must still include the takeoff point.

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
KonradRudin
2024-06-25 16:33:45 +02:00
committed by GitHub
parent 6fd0e98a69
commit 09f066a73a
2 changed files with 34 additions and 0 deletions
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src/modules/navigator/mission.cpp
+17
View File
@@ -216,6 +216,23 @@ void Mission::setActiveMissionItems()
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;
/* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/
if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) &&
(_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) &&
(_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) &&
!_land_detected_sub.get().landed) {
if (setNextMissionItem()) {
if (!loadCurrentMissionItem()) {
setEndOfMissionItems();
return;
}
} else {
setEndOfMissionItems();
return;
}
}
if (item_contains_position(_mission_item)) {
handleTakeoff(new_work_item_type, next_mission_items, num_found_items);
src/modules/navigator/rtl_mission_fast.cpp
+17
View File
@@ -92,6 +92,23 @@ void RtlMissionFast::setActiveMissionItems()
WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/
if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) &&
(_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) &&
(_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) &&
!_land_detected_sub.get().landed) {
if (setNextMissionItem()) {
if (!loadCurrentMissionItem()) {
setEndOfMissionItems();
return;
}
} else {
setEndOfMissionItems();
return;
}
}
// Transition to fixed wing if necessary.
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
_vehicle_status_sub.get().is_vtol &&