fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 17:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: audio messages about what is happening, RTL during mission not triggered but after mission

Browse Source
This commit is contained in:
Julian Oes
2014-06-06 23:08:11 +02:00
parent 1bec9dfe2b
commit 94c4fc56aa
4 changed files with 70 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+1 -5
View File
@@ -112,6 +112,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
@@ -133,11 +134,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
/* TODO understand and fix this */
// if (_vstatus.condition_landed) {
// climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
// }
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;