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navigator: update mission after changing home position (#22834)

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Drone-Lab
2024-03-20 08:37:19 +01:00
committed by GitHub
parent 63850873eb
commit 37caddedbb
2 changed files with 35 additions and 0 deletions
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src/modules/navigator/mission_base.cpp
+27
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@@ -253,6 +253,7 @@ MissionBase::on_active()
updateMavlinkMission();
updateDatamanCache();
updateMissionAltAfterHomeChanged();
/* Check the mission */
if (!_mission_checked && canRunMissionFeasibility()) {
@@ -1375,3 +1376,29 @@ bool MissionBase::canRunMissionFeasibility()
(_geofence_status_sub.get().geofence_id == _mission.geofence_id) &&
(_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY);
}
void MissionBase::updateMissionAltAfterHomeChanged()
{
if (_navigator->get_home_position()->update_count > _home_update_counter) {
float new_alt = get_absolute_altitude_for_item(_mission_item);
float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt;
if (_navigator->get_position_setpoint_triplet()->previous.valid
&& PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) {
_navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt +
altitude_diff;
}
_navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt +
altitude_diff;
if (_navigator->get_position_setpoint_triplet()->next.valid
&& PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) {
_navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt +
altitude_diff;
}
_navigator->set_position_setpoint_triplet_updated();
_home_update_counter = _navigator->get_home_position()->update_count;
}
}