fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-20 15:17:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #998 from PX4/takeoff_fix

Browse Source 
navigator: takeoff fix
This commit is contained in:
Thomas Gubler
2014-06-01 09:49:54 +02:00
parent 90d8f7726d 95a8414895
commit 98e7d2b998
2 changed files with 17 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+1
View File
@@ -41,6 +41,7 @@ then
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set NAV_ACCEPT_RAD 2.0
fi
set PWM_RATE 400
src/modules/navigator/navigator_main.cpp
+16 -16
View File
@@ -1477,27 +1477,27 @@ Navigator::check_mission_item_reached()
acceptance_radius = _parameters.acceptance_radius;
}
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_do_takeoff) {
if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
/* require only altitude for takeoff */
/* require only altitude for takeoff */
if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
_waypoint_position_reached = true;
}
} else {
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}