separate RTL and Mission mode by KonradRudin · Pull Request #20903 · PX4/PX4-Autopilot

KonradRudin · 2023-01-11T07:11:13Z

Solved Problem

Clean up to separate the RTL mode from the mission mode. Currently when in RTL, part of the RTL logic is executed within the mission mode.

Solution

Add a base class which loads the mission items and starts and stops the mission mode
Refactor mission mode to separate it from the reverse and fast forward execution mode. It only executes the planned mission.
Add separate classes for RTL mission reverse and mission fast forward. Those classes can interact directly with the planned mission instead of relying on the mission mode.

Bug Fixes in the process:

RTL for mission reverse is now working andand lands on the home position.
Updated RTL logic such that for RTL type 1, if a safepoint exists, it is always preferred over the home position.

Behavior changes:

Mission now updates the dataman cache only when it is active, this could lead to a blocked calculation state on the activation of the mode. Once activated, it should not block anymore as before.
Calculation fro the land item is now performed on mission upload instead afterwards in the mission module.
Dataman Client has additional function for writing. While a write is performed the mission item is also updated in the cache if it is loaded.

Alternatives

Test coverage

Unit/integration test: Performed both SIH and SITL testing for VTOL and MC. Mission including RTL and VTL landing patterns, also include jump items.
Added MAVSDK test for RTL mission and MIssion reverse.
Memory testing: increase memory usage by ~1.5K. Mostly due to multiple mission base classes loaded at teh same time.
Flight tests with VTOL and a fmu_v6x:
https://review.px4.io/plot_app?log=ac832f39-3a08-4e43-b320-748ac6936c2b
https://review.px4.io/plot_app?log=e75a9931-eaf5-4687-a0bc-598c6b55e910
https://review.px4.io/plot_app?log=25f890f8-8a6f-46e3-a14c-0a8c59370c5b

Context

Related links, screenshot before/after, video

hamishwillee · 2023-08-09T04:54:08Z

@KonradRudin Return mode has been one of the hardest things historically do document - you can see now complicated it is here: https://docs.px4.io/main/en/flight_modes/return.html#return-types-rtl-type

When this is done, if there is any change to the external behaviour, can you help me update please?

sfuhrer · 2023-09-20T13:22:31Z

Rebased and solved some conflicts that came in with #20908. Also made one fix for the mission resume: 5895f0e.
Tested it then in SITL on quad and VTOL a bit.

KonradRudin · 2023-09-25T08:40:38Z

Rebased again on current main

sfuhrer · 2023-09-25T14:00:40Z

@KonradRudin We found two issues while flight testing it, that I now addressed:

2093c45: Fixes issue where vehicle was doing weird loiters ("flowers") because on mission resume, the waypoint type was set to TAKEOFF, while it actually was loitering to achieve the resume altitude
f7bffa7: fixes issue where on resume not the altitude of the *first waypoint from the resume index was taken, but the altitude of the the first waypoint containing a position *after the resume wp

KonradRudin · 2023-09-28T07:34:01Z

rebased on current main

KonradRudin · 2023-09-28T12:38:52Z

squashed commits

…oes all its mission related computation in its own class. Dataman: Add write function to dataman cache. RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable. Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position. Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary. Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.

…on upload.

…ssion RTL mavsdk-test: added a vtol mission without a landing at the end (used for reversed RTL) math_helpers: added function to compute local position from a raw mission item Signed-off-by: RomanBapst <bapstroman@gmail.com>

…ing/safepoint if available and not in RW mode.

… disable checks tracks fro reverse mission. Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m. Increase time to disarm for tailsitter test to pass. Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.

…except fmu_v5x and sitl. QGC does not support VTOL takeoff and thus this is used to safe flash space.

KonradRudin · 2023-10-02T08:05:42Z

@hamishwillee the docs should still be up to date, so no changes necessary.

KonradRudin requested review from RomanBapst and dagar January 11, 2023 07:11

KonradRudin force-pushed the rearrange_rtl_mission_mode branch 2 times, most recently from a5dbccd to fa3ca9c Compare January 16, 2023 15:54

RomanBapst previously approved these changes Jan 19, 2023

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KonradRudin marked this pull request as ready for review January 23, 2023 09:18

RomanBapst dismissed their stale review via 8567e92 January 23, 2023 09:21

RomanBapst reviewed Jan 27, 2023

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Comment thread test/mavsdk_tests/test_vtol_mission.cpp Outdated

KonradRudin force-pushed the rearrange_rtl_mission_mode branch 3 times, most recently from 9543cc4 to 4020dd0 Compare February 1, 2023 08:16

RomanBapst force-pushed the rearrange_rtl_mission_mode branch from 4020dd0 to 8b8e0bf Compare March 10, 2023 12:06

junwoo091400 added the Flight Control (general) 🦅 label Mar 24, 2023

sfuhrer mentioned this pull request Mar 29, 2023

Navigator: fix logic around when to switch to mission landing for RTL #21390

Merged

KonradRudin force-pushed the rearrange_rtl_mission_mode branch from 8b8e0bf to 8f61320 Compare July 14, 2023 15:11

KonradRudin force-pushed the rearrange_rtl_mission_mode branch 3 times, most recently from b3e4f2a to b6c3a25 Compare August 7, 2023 07:17

KonradRudin requested a review from RomanBapst August 7, 2023 07:23

KonradRudin force-pushed the rearrange_rtl_mission_mode branch from 5a0e5b6 to 511289b Compare August 8, 2023 12:56

KonradRudin force-pushed the rearrange_rtl_mission_mode branch 3 times, most recently from b669bae to 94101e6 Compare August 15, 2023 15:08

tstastny requested a review from sfuhrer August 16, 2023 07:43

KonradRudin force-pushed the rearrange_rtl_mission_mode branch 5 times, most recently from 470cfcd to a1de174 Compare August 21, 2023 12:53

KonradRudin requested review from RomanBapst and dagar September 18, 2023 09:46

sfuhrer mentioned this pull request Sep 18, 2023

Fix incorrect _rtl_alt if RTL_TYPE param is RTL_TYPE_MISSION_LANDING_… #21620

Closed

sfuhrer force-pushed the rearrange_rtl_mission_mode branch 2 times, most recently from 5895f0e to 73e9f46 Compare September 20, 2023 13:22

KonradRudin force-pushed the rearrange_rtl_mission_mode branch from ea74f00 to b5e56e4 Compare September 25, 2023 08:39

sfuhrer force-pushed the rearrange_rtl_mission_mode branch from f7bffa7 to f8e0cf4 Compare September 27, 2023 08:10

KonradRudin force-pushed the rearrange_rtl_mission_mode branch from 16df123 to 553f00f Compare September 28, 2023 07:33

KonradRudin force-pushed the rearrange_rtl_mission_mode branch from abf33f7 to ca72fe7 Compare September 28, 2023 12:38

KonradRudin and others added 8 commits September 29, 2023 11:10

mavlink-mission: Calculate land_start and land item directly on missi…

3da6da1

…on upload.

RTL: When RTL_TYPE is set to 1 make sure to always use a mission land…

b0fc98c

…ing/safepoint if available and not in RW mode.

RTL: Keep only the selected RTL type in memory.

a94bec9

VTOL TAKEOFF: Add Config to deactivate, and deactivate on all boards …

253770c

…except fmu_v5x and sitl. QGC does not support VTOL takeoff and thus this is used to safe flash space.

px4_fmu-v5_stackcheck: Disable OSD driver to save flash

fa296e6

sfuhrer force-pushed the rearrange_rtl_mission_mode branch from ca72fe7 to fa296e6 Compare September 29, 2023 09:13

sfuhrer approved these changes Sep 29, 2023

View reviewed changes

sfuhrer merged commit ee5cfbb into main Sep 29, 2023

sfuhrer deleted the rearrange_rtl_mission_mode branch September 29, 2023 12:25

sfuhrer mentioned this pull request Jul 8, 2024

Invalid mission with RTL causes crash #23340

Closed

This was referenced Sep 19, 2025

[Bug] Fixed-wing Mission landing veers off-course in Return *Personnel Safety Risk!* #25436

Closed

Fix position setpoint update logic in Mission RTL #25600

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separate RTL and Mission mode#20903

separate RTL and Mission mode#20903
sfuhrer merged 8 commits intomainfrom
rearrange_rtl_mission_mode

KonradRudin commented Jan 11, 2023 •

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KonradRudin commented Jan 11, 2023 •

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