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Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item #21641

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Jun 2, 2023
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Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item #21641

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5 changes: 4 additions & 1 deletion src/modules/navigator/mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -982,7 +982,10 @@ Mission::set_mission_items()
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;

// have to reset here because these field were used in set_vtol_transition_item
_mission_item.time_inside = 0.f;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();

// make previous setpoint invalid, such that there will be no prev-current line following.
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
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5 changes: 4 additions & 1 deletion src/modules/navigator/rtl.cpp
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Expand Up @@ -544,6 +544,10 @@ void RTL::set_rtl_item()
_mission_item.altitude = loiter_altitude;
_mission_item.altitude_is_relative = false;

// have to reset here because these field were used in set_vtol_transition_item
_mission_item.time_inside = 0.f;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();

if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING) {
_mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _destination.lat, _destination.lon);

Expand All @@ -554,7 +558,6 @@ void RTL::set_rtl_item()
_mission_item.yaw = _navigator->get_local_position()->heading;
}

_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.origin = ORIGIN_ONBOARD;
break;
}
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3 changes: 2 additions & 1 deletion src/modules/navigator/vtol_takeoff.cpp
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Expand Up @@ -117,8 +117,9 @@ VtolTakeoff::on_active()
// we need the vehicle to loiter indefinitely but also we want this mission item to be reached as soon
// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
// however it will just continue loitering as there is no next mission item
_mission_item.time_inside = 1;
_mission_item.time_inside = 1.f;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();

mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
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