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Navigator: add get_default_loiter_CCW() to get loiter direction

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-07-22 13:01:29 +02:00
committed by Silvan Fuhrer
parent 9f83ccfca7
commit 44be2a3f91
2 changed files with 4 additions and 3 deletions
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src/modules/navigator/navigator.h
+1
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@@ -180,6 +180,7 @@ public:
Geofence &get_geofence() { return _geofence; }
float get_default_loiter_rad() { return fabsf(_param_nav_loiter_rad.get()); }
bool get_default_loiter_CCW() { return _param_nav_loiter_rad.get() < -FLT_EPSILON; }
/**
* Returns the default acceptance radius defined by the parameter
src/modules/navigator/navigator_main.cpp
+3 -3
View File
@@ -510,7 +510,7 @@ void Navigator::run()
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.loiter_direction_counter_clockwise = get_default_loiter_CCW();
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
rep->current.cruising_throttle = get_cruising_throttle();
@@ -558,7 +558,7 @@ void Navigator::run()
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_minor_radius = fabsf(get_default_loiter_rad());
rep->current.loiter_direction_counter_clockwise = get_default_loiter_rad() < 0;
rep->current.loiter_direction_counter_clockwise = get_default_loiter_CCW();
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
rep->current.cruising_speed = get_cruising_speed();
@@ -605,7 +605,7 @@ void Navigator::run()
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.loiter_direction_counter_clockwise = get_default_loiter_CCW();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.cruising_speed = -1.f; // reset to default