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updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly

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This commit is contained in:
Andreas Antener
2016-02-15 23:29:47 +01:00
parent eb5b8a32ee
commit 570fb97163
6 changed files with 39 additions and 24 deletions
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src/modules/navigator/mission.cpp
+19 -8
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@@ -505,10 +505,7 @@ Mission::set_mission_items()
new_work_item_type = WORK_ITEM_TYPE_ALIGN;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = _navigator->get_global_position()->alt;
_mission_item.altitude_is_relative = false;
copy_positon_if_valid(_mission_item, pos_sp_triplet->current);
_mission_item.autocontinue = true;
_mission_item.time_inside = 0;
_mission_item.yaw = get_bearing_to_next_waypoint(
@@ -541,10 +538,7 @@ Mission::set_mission_items()
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.lat = pos_sp_triplet->current.lat;
_mission_item.lon = pos_sp_triplet->current.lon;
_mission_item.altitude = pos_sp_triplet->current.alt;
_mission_item.altitude_is_relative = false;
copy_positon_if_valid(_mission_item, pos_sp_triplet->current);
_mission_item.autocontinue = true;
_mission_item.time_inside = 0;
}
@@ -603,6 +597,23 @@ Mission::set_mission_items()
_navigator->set_position_setpoint_triplet_updated();
}
void
Mission::copy_positon_if_valid(struct mission_item_s &mission_item, struct position_setpoint_s &setpoint)
{
if (setpoint.valid) {
_mission_item.lat = setpoint.lat;
_mission_item.lon = setpoint.lon;
_mission_item.altitude = setpoint.alt;
} else {
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
_mission_item.altitude_is_relative = false;
}
bool
Mission::do_need_takeoff()
{