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Mission: do not autocontinue if in multicopter mode and next wp has a hold time

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-07-15 15:53:17 +02:00
parent f3adf6d67f
commit 5c9fac58c8
1 changed files with 5 additions and 1 deletions
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src/modules/navigator/mission.cpp
+5 -1
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@@ -1165,7 +1165,11 @@ Mission::set_mission_items()
}
} else {
if (_mission_item.autocontinue && get_time_inside(_mission_item) < FLT_EPSILON) {
/* allow the vehicle to decelerate before reaching a wp with a hold time */
const bool brake_for_hold = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& get_time_inside(_mission_item) > FLT_EPSILON;
if (_mission_item.autocontinue && !brake_for_hold) {
/* try to process next mission item */
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */