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RTL was broken by a recent change, revert

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Revert "for multicopter landings make sure that the copter moves"

This reverts commit ad1058d3742bbfa9cbd16648aa2925fa1e618a55.
This commit is contained in:
Andreas Antener
2016-01-26 15:53:52 +01:00
parent 5ea5ecf32b
commit 3928924c43
2 changed files with 4 additions and 34 deletions
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src/modules/navigator/mission.cpp
+1 -6
View File
@@ -150,6 +150,7 @@ void
Mission::on_active()
{
check_mission_valid();
/* check if anything has changed */
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -180,12 +181,6 @@ Mission::on_active()
} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
altitude_sp_foh_update();
} else if (_mission_item.nav_cmd == NAV_CMD_LAND && _waypoint_position_reached && _navigator->get_vstatus()->is_rotary_wing) {
// the copter has reached the landing spot location
// set the same landing item again but this time the vehicle will actually
// descend and land
set_mission_item_reached();
set_mission_items();
} else {
/* if waypoint position reached allow loiter on the setpoint */
if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
src/modules/navigator/mission_block.cpp
+3 -28
View File
@@ -92,17 +92,9 @@ MissionBlock::is_mission_item_reached()
}
return true;
}
case NAV_CMD_LAND:
if (!_navigator->get_vstatus()->is_rotary_wing) {
return _navigator->get_vstatus()->condition_landed;
} else {
if (_waypoint_position_reached) {
// the copter has reached the position of the landing spot
// it can can start to descend
return _navigator->get_vstatus()->condition_landed;
}
}
break;
return _navigator->get_vstatus()->condition_landed;
/* TODO: count turns */
/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
@@ -167,12 +159,6 @@ MissionBlock::is_mission_item_reached()
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_LAND) {
// check if we have reached our landing spot
if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
return false;
}
} else if (!_navigator->get_vstatus()->is_rotary_wing &&
(_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
@@ -236,7 +222,6 @@ MissionBlock::is_mission_item_reached()
return true;
}
}
return false;
}
@@ -299,17 +284,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
break;
case NAV_CMD_LAND:
if (!_waypoint_position_reached) {
// we first need to move to the landing waypoint
// use the altitude specified in the mission item
sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
} else {
sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
}
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
break;
case NAV_CMD_LOITER_TIME_LIMIT: