fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 18:09:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix VTOL_LAND to have correct SETPOINT_TYPE

Browse Source
This commit is contained in:
sander 2016-03-23 12:31:48 +01:00 committed by Lorenz Meier
parent aafeab63d5
commit 240c8fbee1
2 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/modules/navigator/mission.cpp
View File

@ -561,7 +561,7 @@ Mission::set_mission_items()
/* 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) {
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND ) {
_mission_item.yaw = NAN;
}
@ -762,8 +762,9 @@ void
Mission::heading_sp_update()
{
/* we don't want to be yawing during takeoff, landing or aligning for a transition */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
return;
}
@ -854,7 +855,9 @@ Mission::altitude_sp_foh_update()
/* Don't do FOH for landing and takeoff waypoints, the ground may be near
* and the FW controller has a custom landing logic */
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
if (_mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
return;
}

5
src/modules/navigator/mission_block.cpp
View File

@ -93,7 +93,8 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_SET_SERVO:
return true;
case NAV_CMD_LAND:
case NAV_CMD_LAND: /* fall through */
case NAV_CMD_VTOL_LAND:
return _navigator->get_vstatus()->condition_landed;
/* TODO: count turns */
@ -358,10 +359,12 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
break;
case NAV_CMD_TAKEOFF:
case NAV_CMD_VTOL_TAKEOFF:
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;
case NAV_CMD_LAND:
case NAV_CMD_VTOL_LAND:
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_land.get()){
sp->disable_mc_yaw_control = true;