Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item #21641
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…_transition_item set_vtol_transition_item sets the params of the mission item directly to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't for other NAV_CMDs. So make sure that whenever we use it, we then in the next step reset the touched mission_item fields. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Flight tested on multiple VTOLs, LGTM. |
RomanBapst
approved these changes
Jun 2, 2023
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mission_block::set_vtol_transition_itemsets the params of the mission item directly to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't for other NAV_CMDs. So make sure that whenever we use it, we then in the next step reset the touched mission_item fields.Solved Problem
acceptance radius and/or time_inside fields of mision_item can be wrong after a VTOL transition.
Solution
Make sure to at least always fill the fields touched by set_vtol_transition_item, which are fields 0 (another union with eg time_inside), and acceptance_radius.
Alternatives
Change the way of how
set_vtol_transition_itemworks? Does it have to manually adapt the fields of _mission_item?Test coverage
Some SITL testing.