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mission: add heading towards ROI mode for multicopters

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This commit is contained in:
Nicolas de Palezieux
2017-08-04 18:30:25 +02:00
committed by Daniel Agar
parent 7a42424411
commit a6ce2b320c
5 changed files with 29 additions and 1 deletions
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src/modules/navigator/mission.cpp
+6
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@@ -1018,6 +1018,12 @@ Mission::heading_sp_update()
point_to_latlon[0] = _navigator->get_home_position()->lat;
point_to_latlon[1] = _navigator->get_home_position()->lon;
} else if (_param_yawmode.get() == MISSION_YAWMODE_TO_ROI
&& _navigator->get_vroi()->mode == vehicle_roi_s::VEHICLE_ROI_LOCATION) {
/* target location is ROI */
point_to_latlon[0] = _navigator->get_vroi()->lat;
point_to_latlon[1] = _navigator->get_vroi()->lon;
} else {
/* target location is next (current) waypoint */
point_to_latlon[0] = pos_sp_triplet->current.lat;