fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mission_base: if FW and takeoff do not enter climb before mission start

Browse Source 
For FW takeoffs we need to keep the course straight towards the first
waypoint, and not climb in loiter patterns first.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-10-02 09:30:17 +02:00
parent 169ff6ccb0
commit abfd00aeb9
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/navigator/mission_base.cpp
View File

@ -1213,7 +1213,11 @@ void MissionBase::checkClimbRequired(int32_t mission_item_index)
const bool success = _dataman_cache.loadWait(dataman_id, next_mission_item_index, reinterpret_cast<uint8_t *>(&mission),
sizeof(mission), MAX_DATAMAN_LOAD_WAIT);
if (success) {
const bool is_fw_and_takeoff = mission.nav_cmd == NAV_CMD_TAKEOFF
&& _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
// for FW when on a Takeoff item do not require climb before mission, as we need to keep course to takeoff item straight
if (success && !is_fw_and_takeoff) {
const float altitude_amsl_next_position_item = MissionBlock::get_absolute_altitude_for_item(mission);
const float error_below_setpoint = altitude_amsl_next_position_item -
_navigator->get_global_position()->alt;