fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 01:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Navigator: Add ability to wait for a position gate with executing the mission

Browse Source 
This enables the navigator to wait for a specific gate coordinate to pass orthogonally to the current trajectory. This is particularly helpful for payload / camera handling in missions and avoids a dependency of payload handling on navigation waypoints.
This commit is contained in:
Lorenz Meier
2020-03-14 17:50:40 +01:00
parent ed8cb1c5a7
commit b405c7e9bd
6 changed files with 152 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_feasibility_checker.cpp
+1
View File
@@ -242,6 +242,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
missionitem.nav_cmd != NAV_CMD_VTOL_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_VTOL_LAND &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_CONDITION_GATE &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&