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Merge branch 'master' into mpc_local_pos

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This commit is contained in:
Anton Babushkin
2014-04-22 11:13:11 +02:00
parent dfd9601b57 f0e28a60ca
commit 302233a34f
250 changed files with 11421 additions and 526 deletions
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src/modules/navigator/navigator_main.cpp
+4 -4
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@@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
{
struct mission_s offboard_mission;
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
{
struct mission_s onboard_mission;
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_onboard_mission_count(onboard_mission.count);
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +611,7 @@ Navigator::task_main()
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1539,7 +1539,7 @@ Navigator::check_mission_item_reached()
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */
_waypoint_yaw_reached = true;
}