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Merge branch 'test_bottle_drop_paul' into bottle_drop_friday

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Lorenz Meier
2014-08-22 14:37:12 +02:00
parent 04ad990254 bdd4f028ee
commit 8e9eddcc74
7 changed files with 10 additions and 10 deletions
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src/modules/bottle_drop/bottle_drop.cpp
+6 -4
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@@ -404,16 +404,18 @@ BottleDrop::task_main()
memset(&update, 0, sizeof(update));
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
struct mission_item_s flight_vector_s;
struct mission_item_s flight_vector_e;
struct mission_item_s flight_vector_s {};
struct mission_item_s flight_vector_e {};
flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_s.acceptance_radius = 50; // TODO: make parameter
flight_vector_s.autocontinue = true;
flight_vector_s.altitude_is_relative = false;
flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_e.acceptance_radius = 50; // TODO: make parameter
flight_vector_e.autocontinue = true;
flight_vector_s.altitude_is_relative = false;
struct wind_estimate_s wind;
@@ -583,10 +585,10 @@ BottleDrop::task_main()
// Compute flight vector
map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_n,
map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_e,
&(flight_vector_s.lat), &(flight_vector_s.lon));
flight_vector_s.altitude = _drop_position.alt;
map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_e, y_drop - turn_radius * wind_direction_e,
map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_n, y_drop - turn_radius * wind_direction_e,
&flight_vector_e.lat, &flight_vector_e.lon);
flight_vector_e.altitude = _drop_position.alt;
//warnx("Flight vector: starting point = %.7f %.7f , end point = %.7f %.7f", flight_vector_s.lat,flight_vector_s.lon,flight_vector_e.lat,flight_vector_e.lon); //////////////////////////////////////////////////////////////////// DEBUGGING