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implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default

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This commit is contained in:
Andreas Antener
2016-02-15 23:26:28 +01:00
parent 0a4d0f6eae
commit bb4decfa8b
5 changed files with 41 additions and 4 deletions
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src/modules/navigator/mission_block.h
+4 -3
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@@ -45,9 +45,6 @@
#include <navigator/navigation.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
@@ -128,10 +125,14 @@ protected:
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
hrt_abstime _action_start;
hrt_abstime _time_wp_reached;
actuator_controls_s _actuators;
orb_advert_t _actuator_pub;
orb_advert_t _cmd_pub;
control::BlockParamFloat _param_yaw_timeout;
control::BlockParamFloat _param_yaw_err;
control::BlockParamInt _param_vtol_wv_land;
control::BlockParamInt _param_vtol_wv_loiter;
};