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Added yaw to CMD_DO_SET_HOME

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This commit is contained in:
David Jablonski
2021-09-11 15:14:01 -04:00
committed by Daniel Agar
parent ce206d992b
commit 7d7200cf2f
1 changed files with 4 additions and 1 deletions
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src/modules/commander/Commander.cpp
+4 -1
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@@ -74,6 +74,7 @@
#include <math.h> #include <math.h>
#include <float.h> #include <float.h>
#include <cstring> #include <cstring>
#include <matrix/math.hpp>
#include <uORB/topics/mavlink_log.h> #include <uORB/topics/mavlink_log.h>
@@ -1030,6 +1031,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
} }
} else { } else {
float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
yaw = PX4_ISFINITE(yaw) ? yaw : NAN;
const double lat = cmd.param5; const double lat = cmd.param5;
const double lon = cmd.param6; const double lon = cmd.param6;
const float alt = cmd.param7; const float alt = cmd.param7;
@@ -1053,7 +1056,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
float home_y; float home_y;
map_projection_project(&ref_pos, lat, lon, &home_x, &home_y); map_projection_project(&ref_pos, lat, lon, &home_x, &home_y);
const float home_z = -(alt - local_pos.ref_alt); const float home_z = -(alt - local_pos.ref_alt);
fillLocalHomePos(home, home_x, home_y, home_z, 0.f); fillLocalHomePos(home, home_x, home_y, home_z, yaw);
/* mark home position as set */ /* mark home position as set */
_status_flags.condition_home_position_valid = _home_pub.update(home); _status_flags.condition_home_position_valid = _home_pub.update(home);