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chore(navigator): don't support VEHICLE_CMD_DO_REPOSITION in guided course

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mahima-yoga
2026-05-15 17:23:43 +02:00
parent 065f78e87e
commit 7fcbcb3869
1 changed files with 125 additions and 137 deletions
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src/modules/navigator/navigator_main.cpp
-12
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@@ -280,16 +280,6 @@ void Navigator::run()
// only update the reposition setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter, // only update the reposition setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,
// which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too) // which can lead to dangerous and unexpected behaviors (see loiter.cpp, there is an if(armed) in there too)
// In course mode with only an altitude change (no lat/lon target), update the course altitude directly.
// The reposition triplet is not used in course mode — the course mode publishes its own setpoint
if (_navigation_mode == &_course
&& !PX4_ISFINITE(cmd.param5) && !PX4_ISFINITE(cmd.param6)
&& PX4_ISFINITE(cmd.param7)) {
_course.set_altitude(cmd.param7);
// DO_REPOSITION is acknowledged by commander
} else {
// Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten // Wait for vehicle_status before handling the next command, otherwise the setpoint could be overwritten
_wait_for_vehicle_status_timestamp = hrt_absolute_time(); _wait_for_vehicle_status_timestamp = hrt_absolute_time();
@@ -437,8 +427,6 @@ void Navigator::run()
// CMD_DO_REPOSITION is acknowledged by commander // CMD_DO_REPOSITION is acknowledged by commander
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_ALTITUDE } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_ALTITUDE
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only update the setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter, // only update the setpoint if armed, as it otherwise won't get executed until the vehicle switches to loiter,