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Navigator: Resume mission with last flight speed (#21714)

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* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode

This stored cruising speed setpoint is reset on mode change and
after a VTOL transition.

* Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission

* Navigator: remove cruising_speed_sp_update()

Speed changes in a mission are handled directly in the position controllers,
and no longer in Navigator.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-08-08 13:22:05 +02:00
committed by GitHub
parent 02a6640000
commit 56dd1dc930
4 changed files with 36 additions and 80 deletions
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src/modules/navigator/navigator_main.cpp
+1 -38
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@@ -617,7 +617,7 @@ void Navigator::run()
set_cruising_speed(cmd.param2);
} else {
set_cruising_speed();
reset_cruising_speed();
/* if no speed target was given try to set throttle */
if (cmd.param3 > FLT_EPSILON) {
@@ -1160,43 +1160,6 @@ float Navigator::get_altitude_acceptance_radius()
}
}
float Navigator::get_cruising_speed()
{
/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_mission_cruising_speed_mc > 0.0f) {
return _mission_cruising_speed_mc;
} else {
return -1.0f;
}
} else {
if (_mission_cruising_speed_fw > 0.0f) {
return _mission_cruising_speed_fw;
} else {
return -1.0f;
}
}
}
void Navigator::set_cruising_speed(float speed)
{
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_mission_cruising_speed_mc = speed;
} else {
_mission_cruising_speed_fw = speed;
}
}
void Navigator::reset_cruising_speed()
{
_mission_cruising_speed_mc = -1.0f;
_mission_cruising_speed_fw = -1.0f;
}
void Navigator::reset_triplets()
{
reset_position_setpoint(_pos_sp_triplet.previous);