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Fix position setpoint update logic in Mission RTL #25600

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Fix position setpoint update logic in Mission RTL #25600

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4000180
Fix position setpoint update logic in Mission RTL
msberk Sep 22, 2025
d2313f9
Change to work more like `mission.cpp`
msberk Sep 24, 2025
a5e76f9
Fix rtl_direct_misssion_land formatting for style guide
msberk Sep 29, 2025
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10 changes: 8 additions & 2 deletions src/modules/navigator/rtl_direct_mission_land.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
{
WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;

// Climb to altitude
if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
Expand Down Expand Up @@ -203,16 +204,21 @@ void RtlDirectMissionLand::setActiveMissionItems()

_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;

pos_sp_triplet->previous = pos_sp_triplet->current;
}


if (num_found_items > 0) {
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
}

mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);

// Only set the previous position item if the current one really changed
if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
!position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
pos_sp_triplet->previous = current_setpoint_copy;
}

// prevent lateral guidance from loitering at a waypoint as part of a mission landing if the altitude
// is not achieved.
const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
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