diff options
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 25 |
1 files changed, 13 insertions, 12 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 7cf6bb1a8..6d7afcf4b 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -82,7 +82,7 @@ RTL::on_inactive() } void -RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +RTL::on_activation() { /* decide where to enter the RTL procedure when we switch into it */ if (_rtl_state == RTL_STATE_NONE) { @@ -105,28 +105,27 @@ RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) } } - set_rtl_item(pos_sp_triplet); + set_rtl_item(); } -bool -RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +RTL::on_active() { if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { advance_rtl(); - set_rtl_item(pos_sp_triplet); - return true; + set_rtl_item(); } - - return false; } void -RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) +RTL::set_rtl_item() { + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + /* make sure we have the latest params */ updateParams(); - set_previous_pos_setpoint(pos_sp_triplet); + set_previous_pos_setpoint(); _navigator->set_can_loiter_at_sp(false); switch (_rtl_state) { @@ -273,11 +272,13 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) break; } + reset_mission_item_reached(); + /* convert mission item to current position setpoint and make it valid */ mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - reset_mission_item_reached(); - pos_sp_triplet->current.valid = true; pos_sp_triplet->next.valid = false; + + _navigator->set_position_setpoint_triplet_updated(); } void |