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mc_pos_control: use correct altitude as limit

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fadfdasf
This commit is contained in:
Dennis Mannhart
2017-06-26 10:22:29 +02:00
parent 115e7246b0
commit 8a0a8e20e1
15 changed files with 58 additions and 49 deletions
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src/modules/navigator/mission.cpp
+5 -5
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@@ -508,7 +508,7 @@ Mission::set_mission_items()
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
@@ -765,7 +765,7 @@ Mission::set_mission_items()
set_align_mission_item(&_mission_item, &mission_item_next_position);
/* set position setpoint to target during the transition */
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
}
@@ -808,7 +808,7 @@ Mission::set_mission_items()
/*********************************** set setpoints and check next *********************************************/
/* set current position setpoint from mission item (is protected against non-position items) */
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
/* issue command if ready (will do nothing for position mission items) */
@@ -835,7 +835,7 @@ Mission::set_mission_items()
/* try to process next mission item */
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next);
} else {
@@ -1187,7 +1187,7 @@ Mission::do_abort_landing()
_mission_item.origin = ORIGIN_ONBOARD;
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();