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ROI - move handling to navigator (#7939)

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This commit is contained in:
Daniel Agar
2017-09-26 12:25:02 -04:00
committed by GitHub
parent e72769c924
commit 3c18be387c
24 changed files with 301 additions and 291 deletions
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src/modules/navigator/rtl.cpp
+4 -4
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@@ -84,7 +84,7 @@ RTL::on_activation()
{
set_current_position_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->next.valid = false;
@@ -286,12 +286,12 @@ RTL::set_rtl_item()
reset_mission_item_reached();
/* execute command if set. This is required for commands like VTOL transition */
if (!item_contains_position(&_mission_item)) {
issue_command(&_mission_item);
if (!item_contains_position(_mission_item)) {
issue_command(_mission_item);
}
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();