fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-11 00:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Compute RTL time and react if lower than flight time

Browse Source 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
This commit is contained in:
Matthias Grob
2021-11-24 14:10:24 +01:00
parent 5489005e0b
commit c522a8b15a
9 changed files with 324 additions and 148 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+4 -2
View File
@@ -77,7 +77,7 @@
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/power_button_state.h>
#include <uORB/topics/rtl_flight_time.h>
#include <uORB/topics/rtl_time_estimate.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/telemetry_status.h>
@@ -321,6 +321,8 @@ private:
bool _geofence_warning_action_on{false};
bool _geofence_violated_prev{false};
bool _rtl_time_actions_done{false};
FailureDetector _failure_detector;
bool _flight_termination_triggered{false};
bool _lockdown_triggered{false};
@@ -408,6 +410,7 @@ private:
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
@@ -431,7 +434,6 @@ private:
uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<rtl_flight_time_s> _rtl_flight_time_sub{ORB_ID(rtl_flight_time)};
// Publications
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};