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navigator: loiter: allow without global position

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This commit is contained in:
Jacob Dahl 2025-02-13 12:20:11 -09:00
parent 96461cdd7d
commit de997f93c2
2 changed files with 13 additions and 5 deletions
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1
src/modules/commander/ModeUtil/mode_requirements.cpp
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@ -95,7 +95,6 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_wind_and_flight_time_compliance);

17
src/modules/navigator/mission_block.cpp
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@ -736,11 +736,20 @@ MissionBlock::setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s
{
setLoiterItemCommonFields(item);
_navigator->preproject_stop_point(item->lat, item->lon);
auto global = _navigator->get_global_position();
item->altitude = _navigator->get_global_position()->alt;
item->loiter_radius = _navigator->get_loiter_radius();
item->yaw = NAN;
if (global->lat_lon_valid && global->alt_valid) {
_navigator->preproject_stop_point(item->lat, item->lon);
item->altitude = global->alt;
item->loiter_radius = _navigator->get_loiter_radius();
item->yaw = NAN;
} else {
item->lat = NAN;
item->lon = NAN;
item->altitude = NAN;
item->loiter_radius = NAN;
}
}
void