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enable takeoff in gps denied areas and minor requested changes

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This commit is contained in:
ChristophTobler
2017-02-13 21:11:25 +01:00
committed by Lorenz Meier
parent 64092f087f
commit 0263ab8cd2
3 changed files with 19 additions and 24 deletions
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src/modules/navigator/mission_block.cpp
+1 -7
View File
@@ -711,13 +711,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (at_current_location) {
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
if (_navigator->home_position_valid()) {
item->yaw = _navigator->get_global_position()->yaw;
} else {
item->yaw = _navigator->get_local_position()->yaw;
}
item->yaw = _navigator->get_local_position()->yaw;
/* use home position */
src/modules/navigator/navigator.h
+11 -11
View File
@@ -134,20 +134,20 @@ public:
/**
* Getters
*/
struct vehicle_status_s *get_vstatus() { return &_vstatus; }
struct vehicle_land_detected_s *get_land_detected() { return &_land_detected; }
struct vehicle_control_mode_s *get_control_mode() { return &_control_mode; }
struct vehicle_global_position_s *get_global_position() { return &_global_pos; }
struct vehicle_local_position_s *get_local_position() { return &_local_pos; }
struct vehicle_gps_position_s *get_gps_position() { return &_gps_pos; }
struct sensor_combined_s *get_sensor_combined() { return &_sensor_combined; }
struct home_position_s *get_home_position() { return &_home_pos; }
bool home_position_valid() { return (_home_pos.timestamp > 0); }
struct vehicle_status_s *get_vstatus() { return &_vstatus; }
struct vehicle_land_detected_s *get_land_detected() { return &_land_detected; }
struct vehicle_control_mode_s *get_control_mode() { return &_control_mode; }
struct vehicle_global_position_s *get_global_position() { return &_global_pos; }
struct vehicle_local_position_s *get_local_position() { return &_local_pos; }
struct vehicle_gps_position_s *get_gps_position() { return &_gps_pos; }
struct sensor_combined_s *get_sensor_combined() { return &_sensor_combined; }
struct home_position_s *get_home_position() { return &_home_pos; }
bool home_position_valid() { return (_home_pos.timestamp > 0); }
struct position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; }
struct position_setpoint_triplet_s *get_reposition_triplet() { return &_reposition_triplet; }
struct position_setpoint_triplet_s *get_takeoff_triplet() { return &_takeoff_triplet; }
struct mission_result_s *get_mission_result() { return &_mission_result; }
struct geofence_result_s *get_geofence_result() { return &_geofence_result; }
struct mission_result_s *get_mission_result() { return &_mission_result; }
struct geofence_result_s *get_geofence_result() { return &_geofence_result; }
struct vehicle_attitude_setpoint_s *get_att_sp() { return &_att_sp; }
int get_onboard_mission_sub() { return _onboard_mission_sub; }