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TAKEOFF implemented for multirotors, added altitude check to waypoint navigation.

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This commit is contained in:
Anton Babushkin
2013-08-26 09:12:17 +02:00
parent 2537977101
commit c5731bbc3f
10 changed files with 108 additions and 76 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -1
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@@ -591,6 +591,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.z = z_est[0];
local_pos.vz = z_est[1];
local_pos.landed = landed;
local_pos.yaw = att.yaw;
orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
@@ -609,7 +610,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (local_pos.v_xy_valid) {
global_pos.vx = local_pos.vx;
global_pos.vy = local_pos.vy;
global_pos.hdg = atan2f(local_pos.vy, local_pos.vx); // TODO is it correct?
}
if (local_pos.z_valid) {
@@ -623,6 +623,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (local_pos.v_z_valid) {
global_pos.vz = local_pos.vz;
}
global_pos.yaw = local_pos.yaw;
global_pos.timestamp = t;