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Better loiter handling

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Lorenz Meier
2016-04-24 20:03:05 +02:00
parent 92afa7c258
commit a1e90f4aa7
1 changed files with 6 additions and 6 deletions
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src/modules/navigator/navigator_main.cpp
+6 -6
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@@ -418,6 +418,10 @@ Navigator::task_main()
rep->previous.lon = get_global_position()->lon; rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt; rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
// Go on and check which changes had been requested // Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) { if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4; rep->current.yaw = cmd.param4;
@@ -425,15 +429,11 @@ Navigator::task_main()
rep->current.yaw = NAN; rep->current.yaw = NAN;
} }
if (PX4_ISFINITE(cmd.param5)) { if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = cmd.param5 / (double)1e7; rep->current.lat = cmd.param5 / (double)1e7;
} else {
rep->current.lat = get_global_position()->lat;
}
if (PX4_ISFINITE(cmd.param6)) {
rep->current.lon = cmd.param6 / (double)1e7; rep->current.lon = cmd.param6 / (double)1e7;
} else { } else {
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon; rep->current.lon = get_global_position()->lon;
} }