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RTL: use dest.yaw instead of a separate heading_sp

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This commit is contained in:
Matthias Grob
2024-02-13 10:34:57 +01:00
parent b19e35ec7c
commit cb03835124
3 changed files with 29 additions and 39 deletions
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src/modules/navigator/mission_block.cpp
+8 -11
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@@ -928,16 +928,15 @@ MissionBlock::initialize()
_mission_item.origin = ORIGIN_ONBOARD;
}
void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const DestinationPosition &dest, float loiter_radius,
float heading_sp) const
void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const DestinationPosition &dest,
float loiter_radius) const
{
item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.altitude_is_relative = false;
item.yaw = heading_sp;
item.yaw = dest.yaw;
item.acceptance_radius = _navigator->get_acceptance_radius();
item.time_inside = 0.0f;
@@ -947,7 +946,7 @@ void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const Destina
}
void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const DestinationPosition &dest, float loiter_time,
float loiter_radius, float heading_sp) const
float loiter_radius) const
{
const bool autocontinue = (loiter_time > -FLT_EPSILON);
@@ -972,8 +971,7 @@ void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const Destinat
item.loiter_radius = loiter_radius;
}
void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const DestinationPosition &dest,
float heading_sp) const
void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const DestinationPosition &dest) const
{
item.nav_cmd = NAV_CMD_WAYPOINT;
item.lat = dest.lat;
@@ -986,17 +984,16 @@ void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const Dest
item.time_inside = 0.f;
item.origin = ORIGIN_ONBOARD;
item.yaw = heading_sp;
item.yaw = dest.yaw;
}
void MissionBlock::setLandMissionItem(mission_item_s &item, const DestinationPosition &dest,
const float heading_sp) const
void MissionBlock::setLandMissionItem(mission_item_s &item, const DestinationPosition &dest) const
{
item.nav_cmd = NAV_CMD_LAND;
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.yaw = heading_sp;
item.yaw = dest.yaw;
item.acceptance_radius = _navigator->get_acceptance_radius();
item.time_inside = 0.0f;
item.autocontinue = true;