fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 15:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander set home position timestamp properly

Browse Source
This commit is contained in:
Daniel Agar
2018-12-27 10:52:01 -05:00
parent 3e87013936
commit 3cd3856d32
1 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+8 -7
View File
@@ -1101,7 +1101,9 @@ Commander::set_home_position()
const vehicle_local_position_s &lpos = _local_position_sub.get(); const vehicle_local_position_s &lpos = _local_position_sub.get();
// Set home position // Set home position
home_position_s &home = _home_pub.get(); home_position_s home{};
home.timestamp = hrt_absolute_time();
home.lat = gpos.lat; home.lat = gpos.lat;
home.lon = gpos.lon; home.lon = gpos.lon;
@@ -1116,16 +1118,15 @@ Commander::set_home_position()
home.yaw = lpos.yaw; home.yaw = lpos.yaw;
//Play tune first time we initialize HOME home.manual_home = false;
// play tune first time we initialize HOME
if (!status_flags.condition_home_position_valid) { if (!status_flags.condition_home_position_valid) {
tune_home_set(true); tune_home_set(true);
} }
/* mark home position as set */ // mark home position as set
status_flags.condition_home_position_valid = _home_pub.update(); status_flags.condition_home_position_valid = _home_pub.update(home);
home.timestamp = hrt_absolute_time();
home.manual_home = false;
return status_flags.condition_home_position_valid; return status_flags.condition_home_position_valid;
} }