fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 19:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_local_position: rename yaw -> heading and add reset logic

Browse Source 
- vehicle_global_position yaw removed (redundant)
This commit is contained in:
Daniel Agar
2020-08-10 11:42:03 +02:00
committed by Mathieu Bresciani
parent 33fb9d0c62
commit 97fc1db768
24 changed files with 75 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+3 -3
View File
@@ -711,7 +711,7 @@ Mission::set_mission_items()
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
/* hold heading for takeoff items */
_mission_item.yaw = _navigator->get_global_position()->yaw;
_mission_item.yaw = _navigator->get_local_position()->heading;
_mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false;
_mission_item.autocontinue = true;
@@ -808,7 +808,7 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
} else {
_mission_item.yaw = _navigator->get_global_position()->yaw;
_mission_item.yaw = _navigator->get_local_position()->heading;
/* set position setpoint to target during the transition */
generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
@@ -1343,7 +1343,7 @@ Mission::heading_sp_update()
} else {
if (!pos_sp_triplet->current.yaw_valid) {
_mission_item.yaw = _navigator->get_local_position()->yaw;
_mission_item.yaw = _navigator->get_local_position()->heading;
pos_sp_triplet->current.yaw = _mission_item.yaw;
pos_sp_triplet->current.yaw_valid = true;
}