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Reload mission for RTL_TYPE 2 #23855

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merged 1 commit into from
Nov 5, 2024
+10 −8
Merged

Reload mission for RTL_TYPE 2 #23855

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6 changes: 4 additions & 2 deletions src/modules/navigator/rtl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -585,6 +585,8 @@ void RTL::init_rtl_mission_type()
_set_rtl_mission_type = RtlType::NONE;
}

mission_s new_mission = _mission_sub.get();

switch (new_rtl_mission_type) {
case RtlType::RTL_DIRECT_MISSION_LAND:
_rtl_mission_type_handle = new RtlDirectMissionLand(_navigator);
Expand All @@ -593,13 +595,13 @@ void RTL::init_rtl_mission_type()
break;

case RtlType::RTL_MISSION_FAST:
_rtl_mission_type_handle = new RtlMissionFast(_navigator);
_rtl_mission_type_handle = new RtlMissionFast(_navigator, new_mission);
_set_rtl_mission_type = RtlType::RTL_MISSION_FAST;
_rtl_type = RtlType::RTL_MISSION_FAST;
break;

case RtlType::RTL_MISSION_FAST_REVERSE:
_rtl_mission_type_handle = new RtlMissionFastReverse(_navigator);
_rtl_mission_type_handle = new RtlMissionFastReverse(_navigator, new_mission);
_set_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE;
_rtl_type = RtlType::RTL_MISSION_FAST_REVERSE;
break;
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4 changes: 2 additions & 2 deletions src/modules/navigator/rtl_mission_fast.cpp
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Expand Up @@ -46,10 +46,10 @@

static constexpr int32_t DEFAULT_MISSION_FAST_CACHE_SIZE = 5;

RtlMissionFast::RtlMissionFast(Navigator *navigator) :
RtlMissionFast::RtlMissionFast(Navigator *navigator, mission_s mission) :
RtlBase(navigator, DEFAULT_MISSION_FAST_CACHE_SIZE)
{

_mission = mission;
}

void RtlMissionFast::on_inactive()
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2 changes: 1 addition & 1 deletion src/modules/navigator/rtl_mission_fast.h
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Expand Up @@ -52,7 +52,7 @@ class Navigator;
class RtlMissionFast : public RtlBase
{
public:
RtlMissionFast(Navigator *navigator);
RtlMissionFast(Navigator *navigator, mission_s mission);
~RtlMissionFast() = default;

void on_activation() override;
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4 changes: 2 additions & 2 deletions src/modules/navigator/rtl_mission_fast_reverse.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,10 +46,10 @@

static constexpr int32_t DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE = 5;

RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator) :
RtlMissionFastReverse::RtlMissionFastReverse(Navigator *navigator, mission_s mission) :
RtlBase(navigator, -DEFAULT_MISSION_FAST_REVERSE_CACHE_SIZE)
{

_mission = mission;
}

void RtlMissionFastReverse::on_inactive()
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2 changes: 1 addition & 1 deletion src/modules/navigator/rtl_mission_fast_reverse.h
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Expand Up @@ -52,7 +52,7 @@ class Navigator;
class RtlMissionFastReverse : public RtlBase
{
public:
RtlMissionFastReverse(Navigator *navigator);
RtlMissionFastReverse(Navigator *navigator, mission_s mission);
~RtlMissionFastReverse() = default;

void on_activation() override;
Expand Down
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