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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_block.cpp
+3 -28
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@@ -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: