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mission_base: make sure all mission_items during landing phase have yaw set to NaN

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This commit is contained in:
Konrad
2024-08-22 12:58:44 +02:00
committed by KonradRudin
parent 02ed1162ed
commit 20b6f343a3
1 changed files with 7 additions and 7 deletions
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src/modules/navigator/mission_base.cpp
+7 -7
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@@ -566,6 +566,13 @@ void MissionBase::handleLanding(WorkItemType &new_work_item_type, mission_item_s
(_mission_item.nav_cmd == NAV_CMD_VTOL_LAND) &&
!_land_detected_sub.get().landed;
/* ignore yaw for landing items */
/* XXX: if specified heading for landing is desired we could add another step before the descent
* that aligns the vehicle first */
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) {
_mission_item.yaw = NAN;
}
/* move to land wp as fixed wing */
if (needs_vtol_landing) {
if (_work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
@@ -654,13 +661,6 @@ void MissionBase::handleLanding(WorkItemType &new_work_item_type, mission_item_s
}
}
}
/* ignore yaw for landing items */
/* XXX: if specified heading for landing is desired we could add another step before the descent
* that aligns the vehicle first */
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND) {
_mission_item.yaw = NAN;
}
}
bool MissionBase::position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const