fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 00:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support gliding setpoints for autonomous soaring (#14643)

Browse Source 
* Enable offboard gliding position setpoints

Adds a capability to make the vehicle glide when given position setpoints.

Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE,  POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan

* Handle nans for curise_throttle
This commit is contained in:
JaeyoungLim
2020-09-14 10:56:29 +02:00
committed by GitHub
parent 8bc512dc93
commit 0592f6ba6e
5 changed files with 55 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+7
View File
@@ -811,6 +811,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000);
bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000);
bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000);
bool is_gliding_sp = (bool)(set_position_target_local_ned.type_mask &
(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Z_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VZ_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AZ_IGNORE));
offboard_control_mode.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(offboard_control_mode);
@@ -851,6 +855,9 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
} else if (is_idle_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
} else if (is_gliding_sp) {
pos_sp_triplet.current.cruising_throttle = 0.0f;
} else {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
}