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Navigator: set _land_start_index to first item with a position after the marker

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_land_start_index is used to to start the mission from this item index, and to
avoid to publish a triplet.current.type=IDLE, we need to fill it with the actual
position setpoint that the vehicle should go to at the start of a mission landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-02-17 15:36:48 +01:00 committed by Roman Bapst
parent fafcdbf4ed
commit 1acb07c600
2 changed files with 5 additions and 6 deletions
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5
src/modules/navigator/mission.cpp
View File

@ -433,11 +433,9 @@ Mission::find_mission_land_start()
if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) {
found_land_start_marker = true;
_land_start_index = i;
}
if (found_land_start_marker && !_land_start_available && i > _land_start_index
&& item_contains_position(missionitem)) {
if (found_land_start_marker && !_land_start_available && item_contains_position(missionitem)) {
// use the position of any waypoint after the land start marker which specifies a position.
_landing_start_lat = missionitem.lat;
_landing_start_lon = missionitem.lon;
@ -447,6 +445,7 @@ Mission::find_mission_land_start()
&& fabsf(missionitem.loiter_radius) > FLT_EPSILON) ? fabsf(missionitem.loiter_radius) :
_navigator->get_loiter_radius();
_land_start_available = true;
_land_start_index = i; // set it to the first item containing a position after the land start marker was found
}
if (((missionitem.nav_cmd == NAV_CMD_VTOL_LAND) && _navigator->get_vstatus()->is_vtol) ||

6
src/modules/navigator/navigator_main.cpp
View File

@ -545,9 +545,9 @@ void Navigator::run()
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_LAND_START) {
/* find NAV_CMD_DO_LAND_START in the mission and
* use MAV_CMD_MISSION_START to start the mission there
*/
// find NAV_CMD_DO_LAND_START in the mission and
// use MAV_CMD_MISSION_START to start the mission from the next item containing a position setpoint
if (_mission.land_start()) {
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;