Navigator: fix RTL_TYP=2 with NAV_CMD_CONDITION_GATE

[sfuhrer]

Solved Problem

The setpoint gets invalid (IDLE) during RTL with RTL_TYPE=2 and a mission containing NAV_CMD_CONDITION_GATE.

Solution

Skip NAV_CMD_CONDITION_GATE.

Changelog Entry

For release notes:

Bugfix: Navigator: fix RTL_TYP=2 with NAV_CMD_CONDITION_GATE

Alternatives

I don't understand why the GATE is even considered, it should already not be considered as not being in the list of MissionBlock::item_contains_position().

Test coverage

SITL tested.

[github-actions]

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 80 byte (0 %)]

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--------------  -------------- 
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   +33%     +34   +33%     +34    RtlMissionFastReverse::on_activation()
  +0.0%      +8  +0.0%      +8    [section .text]
  +5.3%      +2  +5.3%      +2    RtlMissionFastReverse::updateParamsImpl()
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+0.0%    +368  +0.0%     +80    TOTAL

px4_fmu-v6x [Total VM Diff: 80 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +80  +0.0%     +80    .text
   +38%     +36   +38%     +36    RtlMissionFast::on_activation()
   +33%     +34   +33%     +34    RtlMissionFastReverse::on_activation()
  +0.0%      +8  +0.0%      +8    [section .text]
  +5.3%      +2  +5.3%      +2    RtlMissionFastReverse::updateParamsImpl()
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+0.0%    +368  +0.0%     +80    TOTAL

Updated: 2025-10-06T10:40:33

[KonradRudin]

@sfuhrer sorry for the late reply. I checked it and your solution was a patch fix. The issue was that in the on_actuvation function, we did not check, if the mission item is actually a position item, when RTL was triggered during a mission. I added now my alternativ solution which fixes this instead of fixing the condition gate specifically. Happy for feedback. Maybe we should add another reviewer for this then

[dakejahl]

why all of the explicit type casts with the macro? Looks really bad and appears unnecessary