fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 07:24:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix aligning to next waypoint for regular transition command

Browse Source
This commit is contained in:
sander 2016-03-24 00:02:33 +01:00 committed by Lorenz Meier
parent 3f256a778d
commit 1a20de7908
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/navigator/mission.cpp
View File

@ -478,6 +478,7 @@ Mission::set_mission_items()
&& has_next_position_item) {
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_mission_item.yaw = NAN;
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
} else {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
@ -570,8 +571,8 @@ Mission::set_mission_items()
} else {
/* turn towards next waypoint before MC to FW transition */
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type != WORK_ITEM_TYPE_ALIGN
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed
&& has_next_position_item) {
@ -592,7 +593,7 @@ Mission::set_mission_items()
&& !_navigator->get_vstatus()->condition_landed
&& pos_sp_triplet->current.valid) {
new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
//new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
}
/* after FW to MC transition finish moving to the waypoint */