fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-17 09:07:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Navigator: rename WORK_ITEM_TYPE_TAKEOFF to WORK_ITEM_TYPE_CLIMB

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-07-04 11:47:46 +02:00
parent 15641f62d2
commit 93dbf17eab
2 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+5 -5
View File
@@ -310,7 +310,7 @@ Mission::on_active()
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached_or_completed()) {
/* If we just completed a takeoff which was inserted before the right waypoint,
there is no need to report that we reached it because we didn't. */
if (_work_item_type != WORK_ITEM_TYPE_TAKEOFF) {
if (_work_item_type != WORK_ITEM_TYPE_CLIMB) {
set_mission_item_reached();
}
@@ -887,7 +887,7 @@ Mission::set_mission_items()
_work_item_type == WORK_ITEM_TYPE_DEFAULT &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
new_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
new_work_item_type = WORK_ITEM_TYPE_CLIMB;
/* use current mission item as next position item */
mission_item_next_position = _mission_item;
@@ -926,7 +926,7 @@ Mission::set_mission_items()
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
// if the vehicle is already in fixed wing mode then the current mission item
// will be accepted immediately and the work items will be skipped
_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
_work_item_type = WORK_ITEM_TYPE_CLIMB;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
@@ -935,7 +935,7 @@ Mission::set_mission_items()
/* if we just did a normal takeoff navigate to the actual waypoint now */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF &&
_work_item_type == WORK_ITEM_TYPE_TAKEOFF &&
_work_item_type == WORK_ITEM_TYPE_CLIMB &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@@ -945,7 +945,7 @@ Mission::set_mission_items()
/* if we just did a VTOL takeoff, prepare transition */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF &&
_work_item_type == WORK_ITEM_TYPE_TAKEOFF &&
_work_item_type == WORK_ITEM_TYPE_CLIMB &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT &&
_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_navigator->get_land_detected()->landed) {
src/modules/navigator/mission.h
+1 -1
View File
@@ -356,7 +356,7 @@ private:
// Work Item corresponds to the sub-mode set on the "MAV_CMD_DO_SET_MODE" MAVLink message
enum work_item_type {
WORK_ITEM_TYPE_DEFAULT, /**< default mission item */
WORK_ITEM_TYPE_TAKEOFF, /**< takeoff before moving to waypoint */
WORK_ITEM_TYPE_CLIMB, /**< climb at current position before moving to waypoint */
WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */
WORK_ITEM_TYPE_ALIGN_HEADING, /**< align heading for next waypoint */
WORK_ITEM_TYPE_TRANSITION_AFTER_TAKEOFF,