fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 20:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

RTL: change when to set a heading setpoint, generally leave it up to the executer

Browse Source 
-remove RTL_HDG_MD
-only set heading setpoint in Navigator::RTL once above landing point,
or when RTL is triggered close to it
-never set a heading during RTL if weather vane is enabled

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-13 10:34:57 +01:00
committed by Matthias Grob
parent dce53a626e
commit b19e35ec7c
5 changed files with 36 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl_direct.h
+4 -2
View File
@@ -190,9 +190,11 @@ private:
(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
(ParamInt<px4::params::RTL_PLD_MD>) _param_rtl_pld_md,
(ParamFloat<px4::params::RTL_LOITER_RAD>) _param_rtl_loiter_rad,
(ParamInt<px4::params::RTL_HDG_MD>) _param_rtl_hdg_md,
(ParamFloat<px4::params::RTL_TIME_FACTOR>) _param_rtl_time_factor,
(ParamInt<px4::params::RTL_TIME_MARGIN>) _param_rtl_time_margin
(ParamInt<px4::params::RTL_TIME_MARGIN>) _param_rtl_time_margin,
// external params
(ParamBool<px4::params::WV_EN>) _param_wv_en
)
param_t _param_mpc_z_v_auto_up{PARAM_INVALID};