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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/uORB/topics/vehicle_control_mode.h
+2
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@@ -82,6 +82,8 @@ struct vehicle_control_mode_s
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */
uint8_t auto_state; // TEMP navigation state for AUTO modes
};
/**
src/modules/uORB/topics/vehicle_global_position.h
+1 -2
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@@ -72,8 +72,7 @@ struct vehicle_global_position_s
float vx; /**< Ground X velocity, m/s in NED */
float vy; /**< Ground Y velocity, m/s in NED */
float vz; /**< Ground Z velocity, m/s in NED */
float hdg; /**< Compass heading in radians -PI..+PI. */
float yaw; /**< Compass heading in radians -PI..+PI. */
};
/**
src/modules/uORB/topics/vehicle_local_position.h
+2
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@@ -67,6 +67,8 @@ struct vehicle_local_position_s
float vx; /**< Ground X Speed (Latitude), m/s in NED */
float vy; /**< Ground Y Speed (Longitude), m/s in NED */
float vz; /**< Ground Z Speed (Altitude), m/s in NED */
/* Heading */
float yaw;
/* Reference position in GPS / WGS84 frame */
bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */