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FlightTask Auto: Save deploy gear information

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This commit is contained in:
Simone Guscetti 2018-11-05 14:47:18 +01:00 committed by Dennis Mannhart
parent aaddb845c4
commit 66f85ff9ae
3 changed files with 4 additions and 0 deletions
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2
msg/position_setpoint.msg
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@ -39,6 +39,8 @@ bool yaw_valid # true if yaw setpoint valid
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
bool deploy_gear # deploy landing gear
float32 loiter_radius # loiter radius (only for fixed wing), in m
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints

1
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
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@ -224,6 +224,7 @@ bool FlightTaskAuto::_evaluateTriplets()
if (triplet_update || (_current_state != previous_state)) {
_updateInternalWaypoints();
_updateAvoidanceWaypoints();
_deploy_gear = _sub_triplet_setpoint->get().current.deploy_gear;
}
if (MPC_OBS_AVOID.get() && _sub_vehicle_status->get().is_rotary_wing) {

1
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
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@ -103,6 +103,7 @@ protected:
State _current_state{State::none};
float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
bool _deploy_gear = false;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_XY_CRUISE>) MPC_XY_CRUISE,