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navigator: use common "acceptance radius" parameter for all modes

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Anton Babushkin
2014-06-27 11:09:49 +02:00
parent 1bae18377a
commit 52eb49ba0b
7 changed files with 15 additions and 29 deletions
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src/modules/navigator/rtl.cpp
+7 -8
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@@ -61,8 +61,7 @@ RTL::RTL(Navigator *navigator, const char *name) :
_rtl_state(RTL_STATE_NONE),
_param_return_alt(this, "RETURN_ALT"),
_param_descend_alt(this, "DESCEND_ALT"),
_param_land_delay(this, "LAND_DELAY"),
_param_acceptance_radius(this, "ACCEPT_RAD")
_param_land_delay(this, "LAND_DELAY")
{
/* load initial params */
updateParams();
@@ -147,7 +146,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
@@ -178,7 +177,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
@@ -198,7 +197,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = false;
@@ -220,7 +219,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = autoland;
@@ -246,7 +245,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
@@ -265,7 +264,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_IDLE;
_mission_item.acceptance_radius = _param_acceptance_radius.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;