From 69fd3731f8ccf62702d0af0bdea3d6fc86ba1aa9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 11:40:14 +0100 Subject: [PATCH] Navigator: remove vtol_takeoff special handling for RTL (#22844) We had a special handling for RTL triggered in vtol_takeoff state. The idea is to wait until the VTOL Takeoff is completed and only then switch to RTL. On a second thought this special handling isn't really necessary and for the sake of simplicity should be removed. This also removes the side effect of the indicated flight mode after RTL being set to VTOL_Takeoff again. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/navigator_main.cpp | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 30cf417c48f3..8e2f24e1574c 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -783,17 +783,7 @@ void Navigator::run() _pos_sp_triplet_published_invalid_once = false; } -#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF - - // If we are in VTOL takeoff, do not switch until it is finished. - if (_navigation_mode == &_vtol_takeoff && !get_mission_result()->finished) { - navigation_mode_new = &_vtol_takeoff; - - } else -#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF - { - navigation_mode_new = &_rtl; - } + navigation_mode_new = &_rtl; break;