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Merge pull request #998 from PX4/takeoff_fix

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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
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ROMFS/px4fmu_common/init.d/rc.mc_defaults
+1
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@@ -41,6 +41,7 @@ then
param set PE_POSNE_NOISE 0.5 param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0 param set PE_POSD_NOISE 1.0
param set NAV_ACCEPT_RAD 2.0
fi fi
set PWM_RATE 400 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; 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 (_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; _waypoint_position_reached = true;
} }
} else { } 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) { if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true; _waypoint_position_reached = true;
} }