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Support gliding setpoints for autonomous soaring (#14643)

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* 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
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src/modules/navigator/mission.cpp
+2 -1
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@@ -1912,6 +1912,7 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
(p1->acceleration_is_force == p2->acceleration_is_force) &&
(fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) &&
(fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) &&
(fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON));
((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle)
&& !PX4_ISFINITE(p2->cruising_throttle))));
}