Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-03-24 10:34:00 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

fix: RTL during mission after a landing

Browse Source 
For delivery use-case, the mission contains a land item followed by other mission items. For the
section after the land, the current sequence number is greater than the land start index. If an RTL
is triggered, then isLanding returns true and the vehicle continues with the mission instead of
executing the RTL.

The land index marks the actual landing. So, is landing should only be true for the items between
land_start_index and land_index. If there are items after the land index, then they don't belong
to the landing anymore.
This commit is contained in:
mahima-yoga
2025-07-10 15:46:56 +02:00
committed by Silvan Fuhrer
parent 6e1ab343f6
commit 6daec07bbe
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/navigator/mission_base.cpp
View File

@@ -384,7 +384,8 @@ MissionBase::on_active()
bool
MissionBase::isLanding()
{
if (hasMissionLandStart() && (_mission.current_seq > _mission.land_start_index)) {
if (hasMissionLandStart() && (_mission.current_seq > _mission.land_start_index)
&& (_mission.current_seq <= _mission.land_index)) {
static constexpr size_t max_num_next_items{1u};
int32_t next_mission_items_index[max_num_next_items];
size_t num_found_items;