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navigator: loiter fixes

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This commit is contained in:
Anton Babushkin
2014-06-26 00:17:25 +02:00
parent 39454ca99d
commit c5a5604ae9
7 changed files with 34 additions and 39 deletions
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src/modules/navigator/rtl.cpp
+1 -8
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@@ -136,6 +136,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
}
set_previous_pos_setpoint(pos_sp_triplet);
_navigator->set_can_loiter_at_sp(false);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -156,8 +157,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_is_in_loiter(false);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
(int)(climb_alt - _navigator->get_home_position()->alt));
break;
@@ -189,8 +188,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_is_in_loiter(false);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
@@ -211,8 +208,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.autocontinue = _param_land_delay.get() > -0.001f;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_is_in_loiter(true);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
break;
@@ -234,8 +229,6 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_is_in_loiter(false);
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
break;
}