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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(); parameters_update();
if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { _rtl_state = getActivationState();
_rtl_state = RTLState::LAND;
} else {
_rtl_state = getActivationLandState();
}
// reset cruising speed and throttle to default for RTL // reset cruising speed and throttle to default for RTL
_navigator->reset_cruising_speed(); _navigator->reset_cruising_speed();
@@ -410,24 +405,28 @@ void RtlDirect::set_rtl_item()
publish_rtl_direct_navigator_mission_item(); // for logging publish_rtl_direct_navigator_mission_item(); // for logging
} }
RtlDirect::RTLState RtlDirect::getActivationLandState() RtlDirect::RTLState RtlDirect::getActivationState()
{ {
_land_detected_sub.update(); _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. // 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) { } else if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) {
land_state = RTLState::CLIMBING; activation_state = RTLState::CLIMBING;
} else { } 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() 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; start_state_for_estimate = _rtl_state;
} else { } else {
start_state_for_estimate = getActivationLandState(); start_state_for_estimate = getActivationState();
} }
// Calculate RTL time estimate only when there is a valid destination // 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(); void publish_rtl_direct_navigator_mission_item();
RTLState getActivationLandState(); RTLState getActivationState();
void setLoiterPosition(); void setLoiterPosition();