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Merge remote-tracking branch 'px4/master' into navigator_rewrite

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Conflicts:
	src/modules/navigator/navigator_main.cpp
This commit is contained in:
Julian Oes
2014-06-03 16:04:39 +02:00
parent 854bb7fe08 da5b60adab
commit d1d03c34b9
30 changed files with 1060 additions and 181 deletions
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src/modules/navigator/navigator_main.cpp
+20 -20
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@@ -674,11 +674,10 @@ Navigator::check_mission_item_reached()
return _vstatus.condition_landed;
}
/* TODO: count turns */
// if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
// _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
// _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
// _mission_item.loiter_radius > 0.01f) {
/* XXX TODO count turns */
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item.loiter_radius > 0.01f) {
// return false;
// }
@@ -695,24 +694,26 @@ Navigator::check_mission_item_reached()
acceptance_radius = _parameters.acceptance_radius;
}
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
float altitude_amsl = _mission_item.altitude_is_relative
? _mission_item.altitude + _home_pos.alt : _mission_item.altitude;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
_global_pos.lat, _global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
if (_do_takeoff) {
/* require only altitude for takeoff */
if (_global_pos.alt > altitude_amsl - acceptance_radius) {
if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
_waypoint_position_reached = true;
}
} else {
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}
@@ -765,7 +766,6 @@ Navigator::reset_reached()
_waypoint_yaw_reached = false;
}
#endif
void
Navigator::publish_position_setpoint_triplet()
{