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Rebase changes on upstream master

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This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-02-19 16:59:43 +01:00
committed by Julian Oes
parent 2938d23c6c
commit 014f15d8b0
28 changed files with 254 additions and 172 deletions
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src/modules/navigator/mission_block.cpp
+26
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@@ -417,6 +417,32 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
}
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{
item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
/* use current position and use return altitude as clearance */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude = _navigator->get_global_position()->alt;
if (min_clearance > 0.0f) {
item->altitude += min_clearance;
}
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
(min_clearance / 2) : _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = min_pitch;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{