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Navigator Mission RTL (#8749)

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* Add return to land to mission

This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
This commit is contained in:
Florian Achermann
2018-05-27 12:07:06 -04:00
committed by Daniel Agar
parent fdfa764913
commit 84578748f4
11 changed files with 793 additions and 348 deletions
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src/modules/navigator/mission_block.cpp
+20
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@@ -677,6 +677,15 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode)
{
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode;
item->yaw = _navigator->get_global_position()->yaw;
item->autocontinue = true;
}
void
MissionBlock::mission_apply_limitation(mission_item_s &item)
{
@@ -705,3 +714,14 @@ MissionBlock::mission_apply_limitation(mission_item_s &item)
* Add other limitations here
*/
}
float
MissionBlock::get_absolute_altitude_for_item(struct mission_item_s &mission_item) const
{
if (mission_item.altitude_is_relative) {
return mission_item.altitude + _navigator->get_home_position()->alt;
} else {
return mission_item.altitude;
}
}