fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 17:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

reset current setpoint when entering RTL

Browse Source
This commit is contained in:
Andreas Antener
2016-03-19 19:30:09 +04:00
committed by Lorenz Meier
parent f3f01ad960
commit 4847023cad
3 changed files with 26 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+18
View File
@@ -503,6 +503,24 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_current_position_item(struct mission_item_s *item)
{
item->nav_cmd = NAV_CMD_WAYPOINT;
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude_is_relative = false;
item->altitude = _navigator->get_global_position()->alt;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_idle_item(struct mission_item_s *item)
{