fly316/PX4-Autopilot
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Merge remote-tracking branch 'upstream/master' into mtecs

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This commit is contained in:
Thomas Gubler 2014-06-01 09:53:24 +02:00
commit 0c943b30d4
2 changed files with 25 additions and 18 deletions
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1
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -41,6 +41,7 @@ then
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set NAV_ACCEPT_RAD 2.0
fi
set PWM_RATE 400

42
src/modules/navigator/navigator_main.cpp
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@ -1458,7 +1458,6 @@ Navigator::check_mission_item_reached()
/* XXX TODO count turns */
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item.loiter_radius > 0.01f) {
@ -1477,27 +1476,27 @@ Navigator::check_mission_item_reached()
acceptance_radius = _parameters.acceptance_radius;
}
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_do_takeoff) {
if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
/* require only altitude for takeoff */
/* require only altitude for takeoff */
if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
_waypoint_position_reached = true;
}
} else {
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}
@ -1567,7 +1566,14 @@ Navigator::on_mission_item_reached()
}
if (_mission.current_mission_available()) {
set_mission_item();
if (_mission_item.autocontinue) {
/* continue mission */
set_mission_item();
} else {
/* autocontinue disabled for this item */
request_loiter_or_ready();
}
} else {
/* if no more mission items available then finish mission */