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prevent home yaw mode for vtol during transitions

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This commit is contained in:
Andreas Antener
2016-02-08 11:09:12 +01:00
parent e60cd46ad0
commit a63197b82b
1 changed files with 6 additions and 10 deletions
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src/modules/navigator/mission.cpp
+6 -10
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@@ -409,8 +409,6 @@ Mission::set_mission_items()
/*********************************** handle mission item *********************************************/
bool do_issue_command = true;
/* handle position mission items */
if (item_contains_position(&_mission_item)) {
@@ -510,8 +508,6 @@ Mission::set_mission_items()
_navigator->get_global_position()->lon,
mission_item_next_position.lat,
mission_item_next_position.lon);
do_issue_command = false;
}
/* yaw is aligned now */
@@ -552,9 +548,7 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
/* issue command if ready (will do nothing for position mission items) */
if (do_issue_command) {
issue_command(&_mission_item);
}
issue_command(&_mission_item);
/* set current work item type */
_work_item_type = new_work_item_type;
@@ -666,7 +660,7 @@ Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item)
void
Mission::heading_sp_update()
{
/* we don't want to be yawing during takeoff, landing or align */
/* we don't want to be yawing during takeoff, landing or aligning for a transition */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
@@ -695,8 +689,10 @@ Mission::heading_sp_update()
point_from_latlon[1] = _navigator->get_global_position()->lon;
/* target location is home */
if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_HOME
|| _param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME) {
if ((_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_HOME
|| _param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME)
// don't try this during a transition
&& !(_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || _navigator->get_vstatus()->in_transition_mode)) {
point_to_latlon[0] = _navigator->get_home_position()->lat;
point_to_latlon[1] = _navigator->get_home_position()->lon;