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navigator: fix VTOL RTL corner case

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This fixes a corner case for VTOL RTL with RTL_TYPE 1.
RTL_TYPE 1 means that the VTOL skips all waypoints on RTL and jumps to
the land waypoint at the end.

During a mission in fixedwing mode it will continue to fly in fixedwing
mode and then do a transition before landing.

However, if RTL is engaged right at the moment of the front transition,
the transition waypoint is not inserted and the VTOL will try to land in
fixedwing mode at the mission land location.

This corner case is fixed in this patch by also considering the
"transition after takeoff" state.
This commit is contained in:
Julian Oes
2019-12-06 11:03:41 +01:00
committed by Daniel Agar
parent 904ab16558
commit abf174282f
1 changed files with 1 additions and 1 deletions
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src/modules/navigator/mission.cpp
+1 -1
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@@ -820,7 +820,7 @@ Mission::set_mission_items()
/* move to land wp as fixed wing */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF)
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT
&& !_navigator->get_land_detected()->landed) {