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mission don't apply slewrate for altitude

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This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 9ec0d72f3c
commit c1199d1202
1 changed files with 10 additions and 6 deletions
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src/modules/navigator/mission.cpp
+10 -6
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@@ -1064,11 +1064,15 @@ Mission::altitude_sp_foh_update()
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* Don't change setpoint if last and current waypoint are not valid
* or if the previous altitude isn't from a position or loiter setpoint
* or if the previous altitude isn't from a position or loiter setpoint or
* if rotary wing since that is handled in the mc_pos_control
*/
if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || !PX4_ISFINITE(pos_sp_triplet->previous.alt)
|| !(pos_sp_triplet->previous.type == position_setpoint_s::SETPOINT_TYPE_POSITION ||
pos_sp_triplet->previous.type == position_setpoint_s::SETPOINT_TYPE_LOITER)) {
pos_sp_triplet->previous.type == position_setpoint_s::SETPOINT_TYPE_LOITER) ||
_navigator->get_vstatus()->is_rotary_wing) {
return;
}
@@ -1119,10 +1123,10 @@ Mission::altitude_sp_foh_update()
pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
}
if (!_navigator->get_vstatus()->is_rotary_wing) {
// we set altitude directly so we can run this in parallel to the heading update
_navigator->set_position_setpoint_triplet_updated();
}
// we set altitude directly so we can run this in parallel to the heading update
_navigator->set_position_setpoint_triplet_updated();
}
void