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rtl_direct: fix function naming

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This commit is contained in:
chfriedrich98
2025-05-07 11:54:37 +02:00
committed by Silvan Fuhrer
parent 4e436cc64e
commit 2d23fda77d
2 changed files with 14 additions and 15 deletions
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src/modules/navigator/rtl_direct.cpp
+13 -14
View File
@@ -77,12 +77,7 @@ void RtlDirect::on_activation()
parameters_update();
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
_rtl_state = RTLState::LAND;
} else {
_rtl_state = getActivationLandState();
}
_rtl_state = getActivationState();
// reset cruising speed and throttle to default for RTL
_navigator->reset_cruising_speed();
@@ -410,24 +405,28 @@ void RtlDirect::set_rtl_item()
publish_rtl_direct_navigator_mission_item(); // for logging
}
RtlDirect::RTLState RtlDirect::getActivationLandState()
RtlDirect::RTLState RtlDirect::getActivationState()
{
_land_detected_sub.update();
RTLState land_state;
RTLState activation_state;
if (_land_detected_sub.get().landed) {
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
// Skip to LAND state if we are a rover
activation_state = RTLState::LAND;
} else if (_land_detected_sub.get().landed) {
// For safety reasons don't go into RTL if landed.
land_state = RTLState::IDLE;
activation_state = RTLState::IDLE;
} else if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) {
land_state = RTLState::CLIMBING;
activation_state = RTLState::CLIMBING;
} else {
land_state = RTLState::MOVE_TO_LOITER;
activation_state = RTLState::MOVE_TO_LOITER;
}
return land_state;
return activation_state;
}
rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
@@ -443,7 +442,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
start_state_for_estimate = _rtl_state;
} else {
start_state_for_estimate = getActivationLandState();
start_state_for_estimate = getActivationState();
}
// Calculate RTL time estimate only when there is a valid destination
src/modules/navigator/rtl_direct.h
+1 -1
View File
@@ -159,7 +159,7 @@ private:
*/
void publish_rtl_direct_navigator_mission_item();
RTLState getActivationLandState();
RTLState getActivationState();
void setLoiterPosition();