navigator: takeoff and mission fixes

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1230,7 +1230,7 @@ FixedwingPositionControl::task_main()
 				}
 
 				/* XXX check if radius makes sense here */
-				float turn_distance = _l1_control.switch_distance(_mission_item_triplet.current.radius);
+				float turn_distance = _l1_control.switch_distance(_mission_item_triplet.current.acceptance_radius);
 
 				/* lazily publish navigation capabilities */
 				if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {

src/modules/mavlink/waypoints.c

@@ -143,7 +143,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
 			mission_item->pitch_min = mavlink_mission_item->param2;
 			break;
 		default:
-			mission_item->radius = mavlink_mission_item->param2;
+			mission_item->acceptance_radius = mavlink_mission_item->param2;
 			break;
 	}
 
@@ -173,7 +173,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
 			mavlink_mission_item->param2 = mission_item->pitch_min;
 			break;
 		default:
-			mavlink_mission_item->param2 = mission_item->radius;
+			mavlink_mission_item->param2 = mission_item->acceptance_radius;
 			break;
 	}
 

src/modules/navigator/navigator_params.c

@@ -52,7 +52,9 @@
  */
 
 PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
+PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f);
 PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
-PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 10.0f);	// default TAKEOFF altitude, slow descend from this altitude when landing in RTL mode
-PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 10.0f);		// min altitude for going home in RTL mode
+PARAM_DEFINE_FLOAT(NAV_TAAKEOFF_ALT, 10.0f);	// default TAKEOFF altitude
+PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);		// slow descend from this altitude when landing
+PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);		// min altitude for going home in RTL mode

src/modules/sdlog2/sdlog2.c

@@ -1161,9 +1161,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;				
 				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
 				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-				log_msg.body.log_GPSP.radius = buf.triplet.current.radius;
+				log_msg.body.log_GPSP.acceptance_radius = buf.triplet.current.acceptance_radius;
 				log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
 				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
 				LOGBUFFER_WRITE_AND_COUNT(GPSP);

src/modules/sdlog2/sdlog2_messages.h

@@ -217,7 +217,7 @@ struct log_GPSP_s {
 	uint8_t nav_cmd;
 	float loiter_radius;
 	int8_t loiter_direction;
-	float radius;
+	float acceptance_radius;
 	float time_inside;
 	float pitch_min;
 };
@@ -287,7 +287,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
-	LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitRad,LoitDir,Rad,TimeIn,pitMin"),
+	LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
 	/* system-level messages, ID >= 0x80 */

src/modules/uORB/topics/mission.h

@@ -87,7 +87,7 @@ struct mission_item_s
 	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
 	int8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
 	enum NAV_CMD nav_cmd;		/**< navigation command					*/
-	float radius;			/**< radius in which the mission is accepted as reached in meters */
+	float acceptance_radius;	/**< default radius in which the mission is accepted as reached in meters */
 	float time_inside;		/**< time that the MAV should stay inside the radius before advancing in seconds */
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 	bool autocontinue;		/**< true if next waypoint should follow after this one */