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VTOL Takeoff: Use VehicleCommand specified heading for VTOL transition (#24040)

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* Use VehicleCommand heading for VTOL transition

* options for param2 of vehicle_cmd_nav_vtol_takeoff
This commit is contained in:
Jacopo Panerati
2025-11-25 09:46:48 +01:00
committed by GitHub
parent a6d9e114be
commit 6901bc6a01
4 changed files with 16 additions and 3 deletions
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src/modules/navigator/navigator_main.cpp
+4
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@@ -652,6 +652,10 @@ void Navigator::run()
_vtol_takeoff.setTransitionAltitudeAbsolute(cmd.param7);
if (std::fabs(cmd.param2 - 3.0f) < FLT_EPSILON) { // Specified transition direction
_vtol_takeoff.setTransitionDirection(cmd.param4);
}
// after the transition the vehicle will establish on a loiter at this position
_vtol_takeoff.setLoiterLocation(matrix::Vector2d(cmd.param5, cmd.param6));