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Navigator: Handle reposition commands. Untested

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Lorenz Meier
2016-04-23 20:12:11 +02:00
parent c99ff66f75
commit 05aae9410c
4 changed files with 57 additions and 10 deletions
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src/modules/navigator/navigator_main.cpp
+18
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@@ -128,6 +128,7 @@ Navigator::Navigator() :
_mission_item{},
_nav_caps{},
_pos_sp_triplet{},
_reposition_triplet{},
_mission_result{},
_att_sp{},
_mission_item_valid(false),
@@ -409,6 +410,23 @@ Navigator::task_main()
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
warnx("navigator: got reposition command");
struct position_setpoint_triplet_s *rep = get_reposition_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = NAN;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.yaw = cmd.param4;
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
rep->current.alt = cmd.param7;
rep->previous.valid = true;
rep->current.valid = true;
rep->next.valid = false;
}
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_PAUSE_CONTINUE) {