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Navigator: Do not change target position if user is only changing altitude

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This is important for multicopters for drift-free altitude changes and important for fixed wing to keep the current loiter center.
This commit is contained in:
Lorenz Meier 2017-06-04 13:07:18 +02:00
parent c89bd5c8fd
commit 57a2ea0cd1
1 changed files with 7 additions and 0 deletions
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7
src/modules/navigator/navigator_main.cpp
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@ -383,6 +383,7 @@ Navigator::task_main()
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
struct position_setpoint_triplet_s *rep = get_reposition_triplet();
struct position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
@ -406,6 +407,12 @@ Navigator::task_main()
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else if (curr->current.valid
&& PX4_ISFINITE(curr->current.lat)
&& PX4_ISFINITE(curr->current.lon)) {
rep->current.lat = curr->current.lat;
rep->current.lon = curr->current.lon;
} else {
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;