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navigator: cleanup of set_loiter_item

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Unwraps the set_loiter_item() to solve the issue where the altitdue setpoint
in a MC takeoff wasn't correctly used.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-10-27 11:01:13 +03:00
committed by Roman Bapst
parent cb78ba34d7
commit bf6a47ba6a
5 changed files with 76 additions and 41 deletions
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src/modules/navigator/takeoff.cpp
+16 -2
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@@ -66,11 +66,25 @@ Takeoff::on_active()
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// set loiter item so position controllers stop doing takeoff logic
set_loiter_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (_navigator->get_land_detected()->landed) {
_mission_item.nav_cmd = NAV_CMD_IDLE;
} else {
if (pos_sp_triplet->current.valid) {
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else {
setLoiterItemFromCurrentPosition(&_mission_item);
}
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
}