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Skip VTOL_TAKEOFF mission item when in fixed wing mode (#19985)

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* mission: skip VTOL_TAKEOFF mission item when in fixed wing mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* mission: added better comment regarding skipping VTOL Takeoff in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-08-02 15:34:42 +02:00
committed by GitHub
parent f11f2e9797
commit dbf7d32e07
2 changed files with 10 additions and 8 deletions
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src/modules/navigator/mission.cpp
+3 -8
View File
@@ -820,15 +820,10 @@ Mission::set_mission_items()
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF } else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT && _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
// if the vehicle is already in fixed wing mode then the current mission item
// will be accepted immediately and the work items will be skipped
_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
/* haven't transitioned yet, trigger vtol takeoff logic below */
_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
} else {
/* already in fixed-wing, go to waypoint */
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
}
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
_mission_item.yaw = NAN; _mission_item.yaw = NAN;
src/modules/navigator/mission_block.cpp
+7
View File
@@ -129,6 +129,13 @@ MissionBlock::is_mission_item_reached()
return false; return false;
} }
case NAV_CMD_VTOL_TAKEOFF:
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return true;
}
break;
case NAV_CMD_DELAY: case NAV_CMD_DELAY:
// Set reached flags directly such that only the delay time is considered // Set reached flags directly such that only the delay time is considered
_waypoint_position_reached = true; _waypoint_position_reached = true;