RTL fast reverse: enable precision landing

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/navigator/mission_base.h

@@ -483,7 +483,8 @@ private:
 	mission_item_s _last_camera_trigger_item {};
 	mission_item_s _last_speed_change_item {};
 
-	DEFINE_PARAMETERS(
+	DEFINE_PARAMETERS_CUSTOM_PARENT(
+		ModuleParams,
 		(ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
 		(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
 	)

src/modules/navigator/rtl_mission_fast_reverse.cpp

@@ -269,6 +269,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 				_mission_item.altitude = _home_pos_sub.get().alt;
 				_mission_item.altitude_is_relative = false;
 				_navigator->reset_position_setpoint(pos_sp_triplet->previous);
+
+				_mission_item.land_precision = _param_rtl_pld_md.get();
+
+				if (_mission_item.land_precision > 0) {
+					startPrecLand(_mission_item.land_precision);
+					new_work_item_type = WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND;
+				}
 			}
 		}
 	}

src/modules/navigator/rtl_mission_fast_reverse.h

@@ -74,4 +74,8 @@ private:
 	bool _in_landing_phase{false};
 
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
+	DEFINE_PARAMETERS_CUSTOM_PARENT(
+		RtlBase,
+		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md
+	)
 };