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Drone yaw set to destination waypoint yaw in LOITER mode if MIS_YAWMODE=0 (#7269)

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* Drone does not change orientation while in LOITER mode if MIS_YAWMODE=0

* Fix code style

* Some more code style fixes

* Format checks passed
This commit is contained in:
Nacho Carnicero
2017-06-04 20:01:40 +08:00
committed by Lorenz Meier
parent c80fd2c317
commit e6670d7926
2 changed files with 25 additions and 12 deletions
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src/modules/navigator/loiter.h
+9
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@@ -60,6 +60,14 @@ public:
virtual void on_active();
enum mission_yaw_mode {
MISSION_YAWMODE_NONE = 0,
MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
MISSION_YAWMODE_FRONT_TO_HOME = 2,
MISSION_YAWMODE_BACK_TO_HOME = 3,
MISSION_YAWMODE_MAX = 4
};
private:
/**
* Use the stored reposition location of the navigator
@@ -73,6 +81,7 @@ private:
void set_loiter_position();
control::BlockParamFloat _param_min_alt;
control::BlockParamInt _param_yawmode;
bool _loiter_pos_set;
};