fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-15 17:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: don't execute land pattern if vtol in rotary wing mode

Browse Source 
- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-10-27 15:08:11 +03:00
committed by Lorenz Meier
parent 6c3f413379
commit b63f756745
6 changed files with 73 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+27 -18
View File
@@ -391,6 +391,10 @@ Mission::find_mission_land_start()
struct mission_item_s missionitem = {};
struct mission_item_s missionitem_prev = {}; //to store mission item before currently checked on, needed to get pos of wp before NAV_CMD_DO_LAND_START
_land_start_available = false;
bool found_land_start_marker = false;
for (size_t i = 1; i < _mission.count; i++) {
const ssize_t len = sizeof(missionitem);
missionitem_prev = missionitem; // store the last mission item before reading a new one
@@ -402,36 +406,41 @@ Mission::find_mission_land_start()
}
if (missionitem.nav_cmd == NAV_CMD_DO_LAND_START) {
_land_start_available = true;
found_land_start_marker = true;
_land_start_index = i;
}
if (_land_start_available && i > _land_start_index && item_contains_position(missionitem)) {
if (found_land_start_marker && !_land_start_available && i > _land_start_index
&& item_contains_position(missionitem)) {
// use the position of any waypoint after the land start marker which specifies a position.
_landing_lat = missionitem.lat;
_landing_lon = missionitem.lon;
_landing_alt = missionitem.altitude_is_relative ? missionitem.altitude +
_navigator->get_home_position()->alt : missionitem.altitude;
return true;
// if no DO_LAND_START marker available, also check for VTOL_LAND or normal LAND
} else if (((missionitem.nav_cmd == NAV_CMD_VTOL_LAND) && _navigator->get_vstatus()->is_vtol) ||
(missionitem.nav_cmd == NAV_CMD_LAND)) {
_landing_start_lat = missionitem.lat;
_landing_start_lon = missionitem.lon;
_landing_start_alt = missionitem.altitude_is_relative ? missionitem.altitude +
_navigator->get_home_position()->alt : missionitem.altitude;
_land_start_available = true;
_land_start_index = i;
}
if (((missionitem.nav_cmd == NAV_CMD_VTOL_LAND) && _navigator->get_vstatus()->is_vtol) ||
(missionitem.nav_cmd == NAV_CMD_LAND)) {
_landing_lat = missionitem.lat;
_landing_lon = missionitem.lon;
_landing_alt = missionitem.altitude_is_relative ? missionitem.altitude + _navigator->get_home_position()->alt :
missionitem.altitude;
return true;
// don't have a valid land start yet, use the landing item itself then
if (!_land_start_available) {
_land_start_index = i;
_landing_start_lat = _landing_lat;
_landing_start_lon = _landing_lon;
_landing_start_alt = _landing_alt;
_land_start_available = true;
}
}
}
_land_start_available = false;
return false;
return _land_start_available;
}
bool