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Orbit Yaw Vehicle Parameter (#23358)

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This commit is contained in:
Claudio Chies
2024-08-07 11:12:52 +02:00
committed by GitHub
parent 33d99a13e8
commit 28a0de63c5
5 changed files with 34 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+10 -1
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@@ -90,7 +90,14 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command, b
// commanded heading behaviour
if (PX4_ISFINITE(command.param3)) {
_yaw_behaviour = command.param3;
if (static_cast<uint8_t>(command.param3 + .5f) == vehicle_command_s::ORBIT_YAW_BEHAVIOUR_UNCHANGED) {
if (!_currently_orbiting) { // only change the yaw behaviour if we are not actively orbiting
_yaw_behaviour = _param_mc_orbit_yaw_mod.get();
}
} else {
_yaw_behaviour = command.param3;
}
}
// save current yaw estimate for ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING
@@ -165,6 +172,7 @@ void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
_currently_orbiting = false;
_orbit_radius = _radius_min;
_orbit_velocity = 1.f;
_center = _position;
@@ -199,6 +207,7 @@ bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
bool FlightTaskOrbit::update()
{
bool ret = true;
_currently_orbiting = true;
_updateTrajectoryBoundaries();
_adjustParametersByStick();