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Navigator: Add support to read cruising speed off a mission item

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Lorenz Meier
2016-03-13 18:07:47 +01:00
parent cc5afdd6b5
commit 2549505e7b
3 changed files with 43 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+8
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@@ -121,6 +121,13 @@ MissionBlock::is_mission_item_reached()
return false;
}
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
// XXX not differentiating ground and airspeed yet
if (_mission_item.params[1] > 0.0f) {
_navigator->set_cruising_speed(_mission_item.params[1]);
}
return true;
default:
/* do nothing, this is a 3D waypoint */
break;
@@ -338,6 +345,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->pitch_min = item->pitch_min;
sp->acceptance_radius = item->acceptance_radius;
sp->disable_mc_yaw_control = false;
sp->cruising_speed = _navigator->get_cruising_speed();
switch (item->nav_cmd) {
case NAV_CMD_IDLE: