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navigator: add yaw_acceptance getter to incorporate feedback from position

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controller. The yaw acceptance is defined by the mission item. If the pos
control sets it to NAN, then the yaw at a waypoint is ignored.
This commit is contained in:
Martina
2018-09-24 11:23:01 +02:00
committed by Lorenz Meier
parent a5a204004b
commit 7031bb5a6d
3 changed files with 25 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+1 -1
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@@ -322,7 +322,7 @@ MissionBlock::is_mission_item_reached()
if ((_navigator->get_vstatus()->is_rotary_wing
|| (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading))
&& PX4_ISFINITE(_mission_item.yaw)) {
&& PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) {
/* check course if defined only for rotary wing except takeoff */
float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(