Disable camera trigger in Return mode

[moreba1]

#13282

[Antiheavy]

I wonder if the reason the original function was not working in some RTL modes is that RTL_TYPE 1 and 2 remain in Mission Mode internally?
https://github.com/PX4/Firmware/blob/3e90cbe6868d0dfb0d1c4c72faf7dd15988cfa6c/src/modules/navigator/mission.cpp#L137-L146

Will this "unpause" function still work with this new PR?
https://github.com/PX4/Firmware/blob/3e90cbe6868d0dfb0d1c4c72faf7dd15988cfa6c/src/modules/navigator/mission.cpp#L165-L171

[julianoes]

I would say that makes sense.

Have you tested it @moreba1?

[moreba1]

I would say that makes sense.

Have you tested it @moreba1?

No , i have not tested it .

[julianoes]

@Antiheavy you might be correct, yes.

Would be good if you could verify that this actually works correctly for you @moreba1.

[julianoes]

@moreba1 this is pending testing.

[moreba1]

@julianoes I can not test it.

[LorenzMeier]

@julianoes Could you do a quick SITL test? It looks good to me and it's easy enough to test after I fixed all the triggering logic in SITL.

[julianoes]

No, I can't test it right now but I'm ok if it is merged.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[moreba1]

No, I can't test it right now but I'm ok if it is merged.

can you merge this commit ? i tested it.

[julianoes]

Ok thanks @moreba1, let's merge it once CI passed.

[julianoes]

Sorry, I wrote I would merge this but then I forgot about it.

I think the feature itself is now covered in Mission::inactivation:

PX4-Autopilot/src/modules/navigator/mission.cpp

Lines 171 to 191 in 9686c81

	Mission::on_inactivation()
	{
	// Disable camera trigger
	vehicle_command_s cmd {};
	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
	// Pause trigger
	cmd.param1 = -1.0f;
	cmd.param3 = 1.0f;
	_navigator->publish_vehicle_cmd(&cmd);
	_navigator->release_gimbal_control();
	if (_navigator->get_precland()->is_activated()) {
	_navigator->get_precland()->on_inactivation();
	}
	_time_mission_deactivated = hrt_absolute_time();
	/* reset so current mission item gets restarted if mission was paused */
	_work_item_type = WORK_ITEM_TYPE_DEFAULT;
	}

I'll close this. If you disagree, let me know!