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fw pos ctrl: turn back to takeoff point with npfg

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This commit is contained in:
Thomas Stastny
2022-05-06 11:41:18 +02:00
committed by Daniel Agar
parent f60d38db65
commit de26ffa6e0
1 changed files with 3 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -1
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@@ -1508,7 +1508,9 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const Vec
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
// NOTE: current waypoint is passed twice to trigger the "point following" logic -- TODO: create
// point following navigation interface instead of this hack.
_npfg.navigateWaypoints(curr_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint());
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;