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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_block.cpp
+16 -8
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@@ -751,22 +751,30 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
}
void
MissionBlock::mission_apply_limitation(struct mission_item_s *item)
MissionBlock::mission_apply_limitation(mission_item_s &item)
{
/*
* Limit altitude
*/
/* do nothing if altitude max is negative */
if (_navigator->get_land_detected()->alt_max > 0.0f) {
/* get absolut altitude */
float altitude_abs = item->altitude_is_relative
? item->altitude + _navigator->get_home_position()->alt
: item->altitude;
/* absolute altitude */
float altitude_abs = item.altitude_is_relative
? item.altitude + _navigator->get_home_position()->alt
: item.altitude;
/* limit altitude to maximum allowed altitude */
if ((_navigator->get_land_detected()->alt_max + _navigator->get_home_position()->alt) < altitude_abs) {
item->altitude = item->altitude_is_relative ?
_navigator->get_land_detected()->alt_max :
_navigator->get_land_detected()->alt_max + _navigator->get_home_position()->alt;
item.altitude = item.altitude_is_relative ?
_navigator->get_land_detected()->alt_max :
_navigator->get_land_detected()->alt_max + _navigator->get_home_position()->alt;
}
}
/*
* Add other limitations here
*/
}