Rally Points RTL: no not consider rally points for RTL_TYPE=2

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Nov 21, 2019 · 239608c · 239608c
1 parent 7279583
commit 239608c
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
@@ -100,6 +100,9 @@ RTL::find_RTL_destination()
 		}
 	}
 
+	// do not consider rally point if RTL_TYPE, so exit function and use either home or mission landing
+	if (rtl_type() == RTL_MISSION) { return;}
+
 	// compare to safe landing positions
 	mission_safe_point_s closest_safe_point {} ;
 	mission_stats_entry_s stats;

diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
@@ -107,12 +107,11 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
 /**
  * Return type
  *
- * Fly straight to the return location or planned mission landing and land there or
- * use the planned mission to get to those points.
+ * Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
  *
  * @value 0 Return to closest safe point (home or rally point) via direct path.
  * @value 1 Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path.
- * @value 2 Same as above (2nd option), but return via mission path (for return to mission landing), via the reverse mission path (home) or via direct path (rally point).
+ * @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
  * @value 3 Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
  * @group Return Mode
  */