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move static makeVtolLandApproachPoint into the RTL class

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jonas
2026-04-10 12:42:34 +02:00
parent 7f17419a5d
commit 65dc94f763
2 changed files with 13 additions and 11 deletions
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src/modules/navigator/rtl.cpp
+11 -11
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@@ -55,16 +55,6 @@ static constexpr float MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES{10.0f}; // [m] We
static constexpr float MIN_DIST_THRESHOLD = 2.f;
static constexpr double NULL_ISLAND_THRESHOLD_DEG{1e-7};
static loiter_point_s makeVtolLandApproachPoint(const mission_item_s &mission_item, float home_altitude_amsl)
{
loiter_point_s approach{};
approach.lat = mission_item.lat;
approach.lon = mission_item.lon;
approach.height_m = MissionBlock::get_absolute_altitude_for_item(mission_item, home_altitude_amsl);
approach.loiter_radius_m = mission_item.loiter_radius;
return approach;
}
RTL::RTL(Navigator *navigator) :
NavigatorMode(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL),
ModuleParams(navigator),
@@ -429,7 +419,7 @@ PositionYawSetpoint RTL::findClosestSafePoint(float min_dist, uint8_t &safe_poin
const bool vtol_in_fw_mode = _vehicle_status_sub.get().is_vtol
&& (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
PositionYawSetpoint safe_point{(double)NAN, (double)NAN, NAN, NAN};
PositionYawSetpoint safe_point{static_cast<double>(NAN), static_cast<double>(NAN), NAN, NAN};
if (_safe_points_updated) {
_one_rally_point_has_land_approach = false;
@@ -790,6 +780,16 @@ bool RTL::scanVtolLandApproachBlock(int safe_point_index, float home_altitude_am
return result ? (valid_approach_counter > 0) : false;
}
loiter_point_s RTL::makeVtolLandApproachPoint(const mission_item_s &mission_item, float home_altitude_amsl) const
{
loiter_point_s approach{};
approach.lat = mission_item.lat;
approach.lon = mission_item.lon;
approach.height_m = MissionBlock::get_absolute_altitude_for_item(mission_item, home_altitude_amsl);
approach.loiter_radius_m = mission_item.loiter_radius;
return approach;
}
land_approaches_s RTL::readVtolLandApproaches(const PositionYawSetpoint &rtl_position, float home_altitude_amsl) const
{
int safe_point_index = -1;
src/modules/navigator/rtl.h
+2
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@@ -224,6 +224,8 @@ private:
bool scanVtolLandApproachBlock(int safe_point_index, float home_altitude_amsl,
land_approaches_s *result) const;
loiter_point_s makeVtolLandApproachPoint(const mission_item_s &mission_item, float home_altitude_amsl) const;
enum class DatamanState {
UpdateRequestWait,
Read,