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RTL: fix RTL_TYPE=2 with RTL_LAND_DELAY set to indefinitely wait

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2026-01-20 18:20:32 +01:00
committed by Silvan Fuhrer
parent fc992385a9
commit 554b52c6a1
2 changed files with 9 additions and 5 deletions
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src/modules/navigator/rtl_mission_fast_reverse.cpp
+6 -4
View File
@@ -257,10 +257,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
} else if ((_work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB ||
_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND ||
_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
_mission_item.nav_cmd = NAV_CMD_LAND;
const bool loiter_indefinitely = _param_rtl_land_delay.get() < -FLT_EPSILON;
_mission_item.lat = _home_pos_sub.get().lat;
_mission_item.lon = _home_pos_sub.get().lon;
_mission_item.yaw = NAN;
_mission_item.altitude_is_relative = false;
// make previous and next setpoints invalid, such that there will be no line following.
// If the vehicle drifted off the path during back-transition it should just go straight to the landing point.
@@ -272,14 +275,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
_mission_item.altitude = _global_pos_sub.get().alt;
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
} else {
_mission_item.altitude = _home_pos_sub.get().alt;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = loiter_indefinitely ? _home_pos_sub.get().alt + _param_rtl_descend_alt.get() : _global_pos_sub.get().alt;
_mission_item.nav_cmd = loiter_indefinitely ? NAV_CMD_WAYPOINT : NAV_CMD_LAND;
_mission_item.land_precision = _param_rtl_pld_md.get();
src/modules/navigator/rtl_mission_fast_reverse.h
+3 -1
View File
@@ -76,6 +76,8 @@ private:
uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */
DEFINE_PARAMETERS_CUSTOM_PARENT(
RtlBase,
(ParamInt<px4::params::RTL_PLD_MD>) _param_rtl_pld_md
(ParamInt<px4::params::RTL_PLD_MD>) _param_rtl_pld_md,
(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_rtl_land_delay
)
};