5 files changed, 148 insertions, 117 deletions

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 93007d939..cd694be9a 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -88,7 +88,7 @@ Mission::reset()
 bool
 Mission::update(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
-	bool updated;
+	bool updated = false;
 
 	/* check if anything has changed */
 	bool onboard_updated;
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index b22da7117..296294a91 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -108,8 +108,8 @@ public:
 	int		get_offboard_mission_sub() { return _offboard_mission_sub; }
 	Geofence&	get_geofence() { return _geofence; }
 	bool		get_is_in_loiter() { return _is_in_loiter; }
-
-	float		get_loiter_radius() { return _param_loiter_radius.get(); };
+	float		get_loiter_radius() { return _param_loiter_radius.get(); }
+	int		get_mavlink_fd() { return _mavlink_fd; }
 
 private:
 
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 774aa802d..c4c5f2aab 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -49,19 +49,17 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/home_position.h>
 
+#include "navigator.h"
 #include "rtl.h"
 
 RTL::RTL(Navigator *navigator, const char *name) :
 	NavigatorMode(navigator, name),
 	MissionBlock(navigator),
-	_mavlink_fd(-1),
 	_rtl_state(RTL_STATE_NONE),
-	_home_position({}),
-	_loiter_radius(50),
-	_acceptance_radius(50),
 	_param_return_alt(this, "RETURN_ALT"),
 	_param_descend_alt(this, "DESCEND_ALT"),
-	_param_land_delay(this, "LAND_DELAY")
+	_param_land_delay(this, "LAND_DELAY"),
+	_param_acceptance_radius(this, "ACCEPT_RAD")
 {
 	/* load initial params */
 	updateParams();
@@ -73,40 +71,52 @@ RTL::~RTL()
 {
 }
 
+void
+RTL::reset()
+{
+	_first_run = true;
+	_rtl_state = RTL_STATE_NONE;
+}
+
 bool
 RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	bool updated = false;
 
-	return updated;
-}
+	if (_first_run) {
+		set_rtl_item(pos_sp_triplet);
+		updated = true;
+		_first_run = false;
+	}
 
-void
-RTL::reset()
-{
+	if ((_rtl_state == RTL_STATE_CLIMB
+	     || _rtl_state == RTL_STATE_RETURN
+	     || _rtl_state == RTL_STATE_DESCEND)
+	    && is_mission_item_reached()) {
+		advance_rtl();
+		set_rtl_item(pos_sp_triplet);
+		updated = true;
+	}
 
+	return updated;
 }
 
 void
-RTL::set_home_position(const home_position_s *new_home_position)
-{
-	memcpy(&_home_position, new_home_position, sizeof(home_position_s));
-}
-
-bool
-RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item)
+RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 {
-	/* Open mavlink fd */
-	if (_mavlink_fd < 0) {
-		/* try to open the mavlink log device every once in a while */
-		_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	}
+	/* make sure we have the latest params */
+	updateParams();
 
-	/* decide if we need climb */
+	/* decide where to enter the RTL procedure when we switch into it */
 	if (_rtl_state == RTL_STATE_NONE) {
-		if (global_position->alt < _home_position.alt + _param_return_alt.get()) {
+		/* for safety reasons don't go into RTL if landed */
+		if (_navigator->get_vstatus()->condition_landed) {
+			_rtl_state = RTL_STATE_FINISHED;
+		/* if lower than return altitude, climb up first */
+		} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+			   + _param_return_alt.get()) {
 			_rtl_state = RTL_STATE_CLIMB;
-
+		/* otherwise go straight to return */
 		} else {
 			_rtl_state = RTL_STATE_RETURN;
 		}
@@ -114,129 +124,137 @@ RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, miss
 
 	/* if switching directly to return state, set altitude setpoint to current altitude */
 	if (_rtl_state == RTL_STATE_RETURN) {
-		new_mission_item->altitude_is_relative = false;
-		new_mission_item->altitude = global_position->alt;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_global_position()->alt;
 	}
 
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
 
-		float climb_alt = _home_position.alt + _param_return_alt.get();
+		float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
 
 		/* TODO understand and fix this */
 		// if (_vstatus.condition_landed) {
 		// 	climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
 		// }
 
-		new_mission_item->lat = global_position->lat;
-		new_mission_item->lon = global_position->lon;
-		new_mission_item->altitude_is_relative = false;
-		new_mission_item->altitude = climb_alt;
-		new_mission_item->yaw = NAN;
-		new_mission_item->loiter_radius = _loiter_radius;
-		new_mission_item->loiter_direction = 1;
-		new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
-		new_mission_item->acceptance_radius = _acceptance_radius;
-		new_mission_item->time_inside = 0.0f;
-		new_mission_item->pitch_min = 0.0f;
-		new_mission_item->autocontinue = true;
-		new_mission_item->origin = ORIGIN_ONBOARD;
-
-		mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %d meters above home",
-			(int)(climb_alt - _home_position.alt));
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = climb_alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
+			(int)(climb_alt - _navigator->get_home_position()->alt));
 		break;
 	}
 	case RTL_STATE_RETURN: {
 
-		new_mission_item->lat = _home_position.lat;
-		new_mission_item->lon = _home_position.lon;
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
 
 		/* TODO: add this again */
 		// don't change altitude
 		// if (_pos_sp_triplet.previous.valid) {
 		// 	/* if previous setpoint is valid then use it to calculate heading to home */
-		// 	new_mission_item->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, new_mission_item->lat, new_mission_item->lon);
+		// 	_mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon);
 
 		// } else {
 		// 	/* else use current position */
-		// 	new_mission_item->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, new_mission_item->lat, new_mission_item->lon);
+		// 	_mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon);
 		// }
-		new_mission_item->loiter_radius = _loiter_radius;
-		new_mission_item->loiter_direction = 1;
-		new_mission_item->nav_cmd = NAV_CMD_WAYPOINT;
-		new_mission_item->acceptance_radius = _acceptance_radius;
-		new_mission_item->time_inside = 0.0f;
-		new_mission_item->pitch_min = 0.0f;
-		new_mission_item->autocontinue = true;
-		new_mission_item->origin = ORIGIN_ONBOARD;
-
-		mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %d meters above home",
-			(int)(new_mission_item->altitude - _home_position.alt));
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
 		break;
 	}
-
 	case RTL_STATE_DESCEND: {
 
-		new_mission_item->lat = _home_position.lat;
-		new_mission_item->lon = _home_position.lon;
-		new_mission_item->altitude_is_relative = false;
-		new_mission_item->altitude = _home_position.alt + _param_descend_alt.get();
-		new_mission_item->yaw = NAN;
-		new_mission_item->loiter_radius = _loiter_radius;
-		new_mission_item->loiter_direction = 1;
-		new_mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
-		new_mission_item->acceptance_radius = _acceptance_radius;
-		new_mission_item->time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
-		new_mission_item->pitch_min = 0.0f;
-		new_mission_item->autocontinue = _param_land_delay.get() > -0.001f;
-		new_mission_item->origin = ORIGIN_ONBOARD;
-
-		mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %d meters above home",
-			(int)(new_mission_item->altitude - _home_position.alt));
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = _param_land_delay.get() > -0.001f;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(true);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
 		break;
 	}
 
 	case RTL_STATE_LAND: {
 
-		new_mission_item->lat = _home_position.lat;
-		new_mission_item->lon = _home_position.lon;
-		new_mission_item->altitude_is_relative = false;
-		new_mission_item->altitude = _home_position.alt;
-		new_mission_item->yaw = NAN;
-		new_mission_item->loiter_radius = _loiter_radius;
-		new_mission_item->loiter_direction = 1;
-		new_mission_item->nav_cmd = NAV_CMD_LAND;
-		new_mission_item->acceptance_radius = _acceptance_radius;
-		new_mission_item->time_inside = 0.0f;
-		new_mission_item->pitch_min = 0.0f;
-		new_mission_item->autocontinue = true;
-		new_mission_item->origin = ORIGIN_ONBOARD;
-
-		mavlink_log_info(_mavlink_fd, "#audio: RTL: land at home");
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LAND;
+		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_is_in_loiter(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
 		break;
 	}
 
 	case RTL_STATE_FINISHED: {
 		/* nothing to do, report fail */
-		return false;
 	}
 
 	default:
-		return false;
+		break;
 	}
 
-	return true;
-}
-
-bool
-RTL::get_next_rtl_item(mission_item_s *new_mission_item)
-{
-	/* TODO implement */
-	return false;
+	if (_rtl_state == RTL_STATE_FINISHED) {
+		pos_sp_triplet->current.valid = false;
+		pos_sp_triplet->next.valid = false;
+	} else {
+		/* if not finished, 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;
+	}
 }
 
 void
-RTL::move_to_next()
+RTL::advance_rtl()
 {
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB:
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 9b32fbb0c..9836f5064 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -74,19 +74,23 @@ public:
 
 	/**
 	 * This function is called while the mode is active
+	 *
+	 * @param position setpoint triplet that needs to be set
+	 * @return true if updated
 	 */
-	bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	bool update(position_setpoint_triplet_s *pos_sp_triplet);
 
 
 private:
-	void		set_home_position(const home_position_s *home_position);
-
-	bool		get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item);
-	bool		get_next_rtl_item(mission_item_s *mission_item);
-
-	void		move_to_next();
+	/**
+	 * Set the RTL item
+	 */
+	void		set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet);
 
-	int 		_mavlink_fd;
+	/**
+	 * Move to next RTL item
+	 */
+	void		advance_rtl();
 
 	enum RTLState {
 		RTL_STATE_NONE = 0,
@@ -97,13 +101,10 @@ private:
 		RTL_STATE_FINISHED,
 	} _rtl_state;
 
-	home_position_s _home_position;
-	float		_loiter_radius;
-	float		_acceptance_radius;
-
 	control::BlockParamFloat _param_return_alt;
 	control::BlockParamFloat _param_descend_alt;
 	control::BlockParamFloat _param_land_delay;
+	control::BlockParamFloat _param_acceptance_radius;
 };
 
 #endif
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index bfe6ce7e1..63724f461 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -96,3 +96,15 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
+
+/**
+ * RTL acceptance radius
+ *
+ * Acceptance radius for waypoints set for RTL
+ *
+ * @unit meters
+ * @min 1
+ * @max
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_ACCEPT_RAD, 25.0f);