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Wait for VTOL transition command to complete

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This commit is contained in:
sander
2016-04-02 21:29:26 +01:00
committed by Lorenz Meier
parent 240c8fbee1
commit b99e3e0ae2
2 changed files with 3 additions and 8 deletions
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src/modules/navigator/mission.cpp
-6
View File
@@ -433,7 +433,6 @@ Mission::set_mission_items()
/* handle position mission items */
printf("NAV_CMD %.2f workitem: %2f \n", (double)_mission_item.nav_cmd, (double)_work_item_type);
if (item_contains_position(&_mission_item)) {
@@ -493,7 +492,6 @@ Mission::set_mission_items()
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& !_navigator->get_vstatus()->condition_landed) {
printf("vt move to land \n");
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;
/* use current mission item as next position item */
memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s));
@@ -514,7 +512,6 @@ Mission::set_mission_items()
&& _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& !_navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed) {
printf("vt transition \n");
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_mission_item.autocontinue = true;
@@ -524,7 +521,6 @@ Mission::set_mission_items()
/* move to landing waypoint before descent if necessary */
if (do_need_move_to_land() && (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;
printf("doneedmovetoland \n");
/* use current mission item as next position item */
memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s));
@@ -552,7 +548,6 @@ Mission::set_mission_items()
/* we just moved to the landing waypoint, now descend */
if (_work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& _navigator->get_vstatus()->is_rotary_wing) {
printf("move to land complete \n");
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
}
@@ -567,7 +562,6 @@ Mission::set_mission_items()
/* handle non-position mission items such as commands */
} else {
printf("not a position item \n");
/* turn towards next waypoint before MC to FW transition */
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
src/modules/navigator/mission_block.cpp
+3 -2
View File
@@ -112,10 +112,11 @@ MissionBlock::is_mission_item_reached()
* We wait half a second to give the transition command time to propagate.
* As soon as the timeout is over or when we're in transition mode let the mission continue.
*/
if (hrt_absolute_time() - _action_start > 500000 ||
_navigator->get_vstatus()->in_transition_mode) {
if (hrt_absolute_time() - _action_start > 500000 &&
!_navigator->get_vstatus()->in_transition_mode) {
_action_start = 0;
printf("transition reached \n");
return true;
} else {