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Navigator: taking off now on takeoff command, but not yet holding altitude once completed.

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Lorenz Meier
2015-11-23 00:23:13 +01:00
parent 34f4c57456
commit 57b9ac05de
3 changed files with 33 additions and 1 deletions
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src/modules/navigator/takeoff.cpp
+2 -1
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@@ -74,12 +74,13 @@ void
Takeoff::on_activation()
{
/* set current mission item to Takeoff */
set_loiter_item(&_mission_item, _param_min_alt.get());
set_takeoff_item(&_mission_item, _param_min_alt.get());
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);