fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

velocity smoothing

Browse Source
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 554d1ac013
commit 0797c7fc21
6 changed files with 146 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+5 -2
View File
@@ -228,7 +228,7 @@ MissionBlock::is_mission_item_reached()
/* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */
if (_waypoint_position_reached && _waypoint_yaw_reached) {
return true;
if (_time_first_inside_orbit == 0) {
_time_first_inside_orbit = now;
@@ -239,7 +239,7 @@ MissionBlock::is_mission_item_reached()
}
/* check if the MAV was long enough inside the waypoint orbit */
if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
if ((now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f)) {
return true;
}
}
@@ -376,6 +376,9 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->disable_mc_yaw_control = true;
}
break;
case NAV_CMD_FOLLOW_TARGET:
sp->type = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET;
break;
default:
sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;