fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 09:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support for RTL and Delay mission commands

Browse Source
This commit is contained in:
Don Gagne
2017-04-18 08:56:01 +02:00
committed by Lorenz Meier
parent 3721fb9d52
commit 96458d3184
7 changed files with 28 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+8 -1
View File
@@ -297,6 +297,11 @@ MissionBlock::is_mission_item_reached()
}
}
} else if (_mission_item.nav_cmd == NAV_CMD_DELAY) {
_waypoint_position_reached = true;
_waypoint_yaw_reached = true;
_time_wp_reached = now;
} else {
/* for normal mission items used their acceptance radius */
float mission_acceptance_radius = _navigator->get_acceptance_radius(_mission_item.acceptance_radius);
@@ -500,7 +505,9 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
item->nav_cmd == NAV_CMD_DO_SET_ROI ||
item->nav_cmd == NAV_CMD_ROI ||
item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION ||
item->nav_cmd == NAV_CMD_DELAY ||
item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
return false;
}