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implemented takeoff before WP and move to WP before land

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This commit is contained in:
Andreas Antener
2016-02-08 11:09:10 +01:00
parent ac985ee1c7
commit b75eaf3c4a
5 changed files with 175 additions and 103 deletions
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src/modules/navigator/mission_block.cpp
+2 -2
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@@ -83,7 +83,7 @@ MissionBlock::is_mission_item_reached()
{
/* handle non-navigation or indefinite waypoints */
switch (_mission_item.nav_cmd) {
// XXX: move handling to mission as well
// XXX: move handling to issue_command() as well
case NAV_CMD_DO_SET_SERVO: {
memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
@@ -296,7 +296,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->acceptance_radius = item->acceptance_radius;
switch (item->nav_cmd) {
case NAV_CMD_DO_SET_SERVO: // XXX: should be also return in the beginning for this?
case NAV_CMD_DO_SET_SERVO: // XXX: actually also a non position item
/* Set current position for loitering set point*/
sp->lat = _navigator->get_global_position()->lat;
sp->lon = _navigator->get_global_position()->lon;