fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator move parameters out of MissionBlock

Browse Source 
- MissionBlock is an interface with > 10 implementations
This commit is contained in:
Daniel Agar
2017-10-26 22:43:53 +02:00
committed by Lorenz Meier
parent 8e457b6037
commit 4416c4ddb3
26 changed files with 291 additions and 352 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/follow_target.cpp
+34
View File
@@ -400,3 +400,37 @@ bool FollowTarget::target_position_valid()
// need at least 1 continuous data points for position estimate
return (_target_updates >= 1);
}
void
FollowTarget::set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s &target,
float yaw)
{
if (_navigator->get_land_detected()->landed) {
/* landed, don't takeoff, but switch to IDLE mode */
item->nav_cmd = NAV_CMD_IDLE;
} else {
item->nav_cmd = NAV_CMD_DO_FOLLOW_REPOSITION;
/* use current target position */
item->lat = target.lat;
item->lon = target.lon;
item->altitude = _navigator->get_home_position()->alt;
if (min_clearance > 8.0f) {
item->altitude += min_clearance;
} else {
item->altitude += 8.0f; // if min clearance is bad set it to 8.0 meters (well above the average height of a person)
}
}
item->altitude_is_relative = false;
item->yaw = yaw;
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}