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heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs

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ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
This commit is contained in:
Nicolas de Palezieux
2018-01-22 15:56:42 +01:00
committed by Lorenz Meier
parent add3692357
commit 7ae3884944
4 changed files with 83 additions and 50 deletions
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src/modules/navigator/mission.h
+3 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -85,8 +85,7 @@ public:
MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
MISSION_YAWMODE_FRONT_TO_HOME = 2,
MISSION_YAWMODE_BACK_TO_HOME = 3,
MISSION_YAWMODE_TO_ROI = 4,
MISSION_YAWMODE_MAX = 5
MISSION_YAWMODE_MAX = 4
};
bool set_current_offboard_mission_index(uint16_t index);
@@ -232,6 +231,7 @@ private:
control::BlockParamFloat _param_dist_between_wps;
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
control::BlockParamInt _param_mnt_yaw_ctl;
struct mission_s _offboard_mission {};