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renamed MOVE_TO_INTERMEDIATE_POINT to AVOID_GEOFENCE

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2026-04-29 11:20:17 +03:00
parent 6871caa6f9
commit 40bf5b33a2
2 changed files with 7 additions and 7 deletions
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src/modules/navigator/rtl_direct.cpp
+6 -6
View File
@@ -162,7 +162,7 @@ void RtlDirect::_updateRtlState()
switch (_rtl_state) { switch (_rtl_state) {
case RTLState::CLIMBING: case RTLState::CLIMBING:
if (_geofence_aware_return_path.hasNextPoint()) { if (_geofence_aware_return_path.hasNextPoint()) {
new_state = RTLState::MOVE_TO_INTERMEDIATE_POINT; new_state = RTLState::AVOID_GEOFENCE;
} else { } else {
new_state = RTLState::MOVE_TO_LOITER; new_state = RTLState::MOVE_TO_LOITER;
@@ -170,9 +170,9 @@ void RtlDirect::_updateRtlState()
break; break;
case RTLState::MOVE_TO_INTERMEDIATE_POINT: case RTLState::AVOID_GEOFENCE:
if (_geofence_aware_return_path.hasNextPoint()) { if (_geofence_aware_return_path.hasNextPoint()) {
new_state = RTLState::MOVE_TO_INTERMEDIATE_POINT; new_state = RTLState::AVOID_GEOFENCE;
} else { } else {
new_state = RTLState::MOVE_TO_LOITER; new_state = RTLState::MOVE_TO_LOITER;
@@ -256,7 +256,7 @@ void RtlDirect::set_rtl_item()
break; break;
} }
case RTLState::MOVE_TO_INTERMEDIATE_POINT: { case RTLState::AVOID_GEOFENCE: {
matrix::Vector2d point = _geofence_aware_return_path.getAndPopCurrentPoint(); matrix::Vector2d point = _geofence_aware_return_path.getAndPopCurrentPoint();
@@ -452,7 +452,7 @@ RtlDirect::RTLState RtlDirect::getActivationState()
activation_state = RTLState::CLIMBING; activation_state = RTLState::CLIMBING;
} else if (_geofence_aware_return_path.hasNextPoint()) { } else if (_geofence_aware_return_path.hasNextPoint()) {
activation_state = RTLState::MOVE_TO_INTERMEDIATE_POINT; activation_state = RTLState::AVOID_GEOFENCE;
} else { } else {
activation_state = RTLState::MOVE_TO_LOITER; activation_state = RTLState::MOVE_TO_LOITER;
@@ -495,7 +495,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
} }
// FALLTHROUGH // FALLTHROUGH
case RTLState::MOVE_TO_INTERMEDIATE_POINT: { case RTLState::AVOID_GEOFENCE: {
const int num_points = _geofence_aware_return_path.num_points; const int num_points = _geofence_aware_return_path.num_points;
for (int i = 0; i < num_points - 1; ++i) { for (int i = 0; i < num_points - 1; ++i) {
src/modules/navigator/rtl_direct.h
+1 -1
View File
@@ -121,7 +121,7 @@ private:
*/ */
enum class RTLState { enum class RTLState {
CLIMBING, CLIMBING,
MOVE_TO_INTERMEDIATE_POINT, AVOID_GEOFENCE,
MOVE_TO_LOITER, MOVE_TO_LOITER,
LOITER_DOWN, LOITER_DOWN,
LOITER_HOLD, LOITER_HOLD,