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Merge branch 'fw_autoland_att_tecs_navigator' into bottle_drop_navigator

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Conflicts:
	src/modules/navigator/navigator_main.cpp
This commit is contained in:
Julian Oes
2013-12-03 20:50:52 +01:00
parent f2c303679e e034f5135e
commit 03a5426001
8 changed files with 172 additions and 310 deletions
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src/modules/bottle_drop/bottle_drop.c
+19 -19
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@@ -272,21 +272,21 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub = orb_advertise(ORB_ID(actuator_controls_1), &actuators);
struct mission_s onboard_mission;
memset(&onboard_mission, 0, sizeof(onboard_mission));
onboard_mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * 2);
// struct mission_s onboard_mission;
// memset(&onboard_mission, 0, sizeof(onboard_mission));
// onboard_mission.items = (struct mission_item_s*)malloc(sizeof(struct mission_item_s) * 2);
struct mission_item_s *flight_vector_s = &onboard_mission.items[0];
struct mission_item_s *flight_vector_e = &onboard_mission.items[1];
struct mission_item_s *flight_vector_s = NULL;//&onboard_mission.items[0];
struct mission_item_s *flight_vector_e = NULL;//&onboard_mission.items[1];
flight_vector_s->nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_s->radius = 50; // TODO: make parameter
flight_vector_s->autocontinue = true;
flight_vector_e->nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_e->radius = 50; // TODO: make parameter
flight_vector_e->autocontinue = true;
// flight_vector_s->nav_cmd = NAV_CMD_WAYPOINT;
// flight_vector_s->radius = 50; // TODO: make parameter
// flight_vector_s->autocontinue = true;
// flight_vector_e->nav_cmd = NAV_CMD_WAYPOINT;
// flight_vector_e->radius = 50; // TODO: make parameter
// flight_vector_e->autocontinue = true;
orb_advert_t onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission);
// orb_advert_t onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission);
struct pollfd fds[] = {
{ .fd = vehicle_attitude_sub, .events = POLLIN }
@@ -448,18 +448,18 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
// warnx("future_distance: %.2f, precision: %.2f", future_distance, precision);
// }
onboard_mission.count = 2;
// onboard_mission.count = 2;
if (state_run && !state_drop) {
onboard_mission.current_index = 0;
} else {
onboard_mission.current_index = -1;
}
// if (state_run && !state_drop) {
// onboard_mission.current_index = 0;
// } else {
// onboard_mission.current_index = -1;
// }
// if (counter % 10 ==0)
// warnx("Distance real: %.2f, distance_open_door: %.2f, angle to wind: %.2f", distance_real, distance_open_door, fabsf(_wrap_pi(globalpos.yaw-atan2f(wind_speed.vy,wind_speed.vx)+M_PI_F)));
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
// orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
}