fix(navigator): keep a VTOL in multicopter mode through mission RTL [1.18] - #28538
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…X4#28399) * fix(navigator): preserve VTOL mode in direct mission RTL Remove the unconditional multicopter-to-fixed-wing transition from direct mission-land RTL so the return uses the VTOL mode active when RTL starts. This allows an MC-mode vehicle to proceed through the mission landing sequence instead of becoming stuck after an unnecessary forward transition. Add module-level and MAVSDK SITL regressions covering an airborne multicopter-mode VTOL with a planned mission landing. Refs PX4#27817 Refs PX4#24323 Assisted-by: Codex:gpt-5 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> * fix(navigator): drop the fixed wing transition from the fast RTL modes too The fast and the reverse mission RTL carried the same request for a transition to fixed wing as the direct mission land RTL. The VTOL attitude controller rejects that command during RTL, so a VTOL in multicopter mode waited on it forever instead of flying the mission. Remove both. A VTOL in multicopter mode now flies the mission RTL as a multicopter, the same as direct RTL does. Reported in PX4#24323. Two unit tests pin the active item to a waypoint for a VTOL in multicopter mode, and two MAVSDK cases fly it on the standard VTOL in SIH: the mission landing and the reverse mission both stay in multicopter mode to touchdown, within 5 m of the land item and of home. Assisted-by: Claude:claude-fable-5 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> --------- Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> (cherry picked from commit 290f56d)
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: -176 byte (-0.01 %)]px4_fmu-v6x [Total VM Diff: -184 byte (-0.01 %)]Updated: 2026-09-04T02:52:50 |
mbjd
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Sep 4, 2026
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Backport of #28399 to
release/1.18, adapted for the branch.Mission RTL forced a VTOL flying as a multicopter into fixed-wing mode at return altitude, and the vehicle could stay armed instead of starting the landing sequence. The navigator change is the same as on main. The tests are adapted to the test code on this branch.