fly316/PX4-Autopilot
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removed unneccessary includes, eliminated namespace on math, changed date

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reverted a file back to master
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Jake Dahl
2018-07-26 07:46:24 +02:00
committed by Lorenz Meier
parent 21db15ff4f
commit a1ff4a8a67
2 changed files with 7 additions and 14 deletions
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src/modules/navigator/mission_block.cpp
+1 -1
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@@ -520,7 +520,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !_navigator->get_land_detected()->landed && !_navigator->get_land_detected()->maybe_landed) {
&& !_navigator->get_land_detected()->landed) {
sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
src/modules/navigator/rtl.cpp
+6 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -40,13 +40,6 @@
#include "rtl.h"
#include "navigator.h"
#include <cfloat>
#include <mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
using math::max;
using math::min;
static constexpr float DELAY_SIGMA = 0.01f;
@@ -73,11 +66,11 @@ void
RTL::on_activation()
{
if (_navigator->get_land_detected()->landed) {
// For safety reasons don't go into RTL if landed or currently in landing.
// For safety reasons don't go into RTL if landed.
_rtl_state = RTL_STATE_LANDED;
} else if (_navigator->get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
// Do not go into full RTL if already performing a land.
// Skip straight to land if already performing a land.
_rtl_state = RTL_STATE_LAND;
} else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) {
@@ -143,7 +136,7 @@ RTL::set_rtl_item()
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
// Compute the return altitude.
float return_alt = max(home.alt + _param_return_alt.get(), gpos.alt);
float return_alt = math::max(home.alt + _param_return_alt.get(), gpos.alt);
// We are close to home, limit climb to min.
if (home_dist < _param_rtl_min_dist.get()) {
@@ -151,7 +144,7 @@ RTL::set_rtl_item()
}
// Compute the loiter altitude.
const float loiter_altitude = min(home.alt + _param_descend_alt.get(), gpos.alt);
const float loiter_altitude = math::min(home.alt + _param_descend_alt.get(), gpos.alt);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -248,7 +241,7 @@ RTL::set_rtl_item()
_mission_item.yaw = home.yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = max(_param_land_delay.get(), 0.0f);
_mission_item.time_inside = math::max(_param_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;