navigator: fix triplet resetting/publication logic #13588
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The navigator has a notion of resetting the triplets which means the triplet setpoints are set to invalid and therefore not to be used by downstream modules such as flight tasks. However, before this patch, the triplets were not published if invalid meaning that a valid triplet would stay the truth until a new valid triplet would get published. E.g. this lead to the corner case case where we publish a valid triplet with an IDLE setpoint on ground in HOLD and then don't update the triplet while flying in POSCTL mode. Later, when RTL is engaged, the flight task will use IDLE until navigator (which runs slower) has published the next triplet. The fix involves two main changes: - Publish invalid triplets to avoid stale triplets. - Avoid publishing the triplet on every iteration in manual modes by not setting `_pos_sp_triplet_published_invalid_once = false`. When testing this I realized that a mission upload during RTL would stop RTL. This is because the mission is updated while the mission navigation mode is not active and reset_triplets() is called from there. This is now only done for the case where we are actually in mission navigation mode. The fact that a mission is updated when not active also seems wrong and is something to fix another time.
MaEtUgR
approved these changes
Nov 25, 2019
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Backport of #13534.