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Implement MAV_CMD_DO_CHANGE_SPEED throttle

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This commit is contained in:
sander
2016-06-23 09:08:35 +02:00
committed by Roman
parent 7f8c183d99
commit 37531c018a
5 changed files with 46 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+8
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@@ -127,7 +127,14 @@ MissionBlock::is_mission_item_reached()
_navigator->set_cruising_speed(_mission_item.params[1]);
} else {
_navigator->set_cruising_speed();
/* if no speed target was given try to set throttle */
if (_mission_item.params[2] > 0.0f) {
_navigator->set_cruising_throttle(_mission_item.params[2] / 100);
} else {
_navigator->set_cruising_throttle();
}
}
return true;
default:
@@ -367,6 +374,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->acceptance_radius = item->acceptance_radius;
sp->disable_mc_yaw_control = false;
sp->cruising_speed = _navigator->get_cruising_speed();
sp->cruising_throttle = _navigator->get_cruising_throttle();
switch (item->nav_cmd) {
case NAV_CMD_IDLE: