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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/navigator/mission_block.cpp
+6 -2
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@@ -228,7 +228,7 @@ MissionBlock::set_previous_pos_setpoint()
}
void
MissionBlock::set_loiter_item(struct mission_item_s *item)
MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
{
if (_navigator->get_vstatus()->condition_landed) {
/* landed, don't takeoff, but switch to IDLE mode */
@@ -246,10 +246,14 @@ MissionBlock::set_loiter_item(struct mission_item_s *item)
item->altitude = pos_sp_triplet->current.alt;
} else {
/* use current position */
/* use current position and use return altitude as clearance */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude = _navigator->get_global_position()->alt;
if (min_clearance > 0.0f && item->altitude < _navigator->get_home_position()->alt + min_clearance) {
item->altitude = _navigator->get_home_position()->alt + min_clearance;
}
}
item->altitude_is_relative = false;