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Navigator: execute on reposition commands

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Lorenz Meier
2016-04-24 11:54:20 +02:00
parent 711053fd76
commit 2244ff167f
2 changed files with 38 additions and 8 deletions
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src/modules/navigator/navigator_main.cpp
+24 -5
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@@ -409,7 +409,6 @@ Navigator::task_main()
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
warnx("navigator: got reposition command");
struct position_setpoint_triplet_s *rep = get_reposition_triplet();
@@ -419,10 +418,30 @@ Navigator::task_main()
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.yaw = cmd.param4;
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
rep->current.alt = cmd.param7;
// Go on and check which changes had been requested
if (isfinite(cmd.param4)) {
rep->current.yaw = cmd.param4;
} else {
rep->current.yaw = NAN;
}
if (isfinite(cmd.param5)) {
rep->current.lat = cmd.param5 / (double)1e7;
} else {
rep->current.lat = get_global_position()->lat;
}
if (isfinite(cmd.param6)) {
rep->current.lon = cmd.param6 / (double)1e7;
} else {
rep->current.lon = get_global_position()->lon;
}
if (isfinite(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;
}
rep->previous.valid = true;
rep->current.valid = true;