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Simplify use of pitch_min

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This commit is contained in:
Lorenz Meier
2016-10-21 00:27:32 +02:00
committed by Lorenz Meier
parent 9821499113
commit eaae1abdaf
6 changed files with 5 additions and 14 deletions
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src/modules/mavlink/mavlink_mission.cpp
+5
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@@ -900,6 +900,11 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->altitude_is_relative = true;
}
/* this field is shared with pitch_min in memory and
* exclusive in the MAVLink spec. Set it to 0 first
* and then set minimum pitch later only for the
* corresponding item
*/
mission_item->time_inside = 0.0f;
switch (mavlink_mission_item->command) {
src/modules/navigator/datalinkloss.cpp
-2
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@@ -127,7 +127,6 @@ DataLinkLoss::set_dll_item()
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -144,7 +143,6 @@ DataLinkLoss::set_dll_item()
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
src/modules/navigator/enginefailure.cpp
-1
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@@ -115,7 +115,6 @@ EngineFailure::set_ef_item()
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
src/modules/navigator/mission_block.cpp
-6
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@@ -575,7 +575,6 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
@@ -610,7 +609,6 @@ MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clea
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
@@ -629,7 +627,6 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->time_inside = 0.0f;
item->pitch_min = min_pitch;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
@@ -672,7 +669,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
@@ -689,7 +685,6 @@ MissionBlock::set_current_position_item(struct mission_item_s *item)
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
@@ -706,7 +701,6 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
src/modules/navigator/rcloss.cpp
-1
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@@ -117,7 +117,6 @@ RCLoss::set_rcl_item()
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
src/modules/navigator/rtl.cpp
-4
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@@ -158,7 +158,6 @@ RTL::set_rtl_item()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -199,7 +198,6 @@ RTL::set_rtl_item()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -245,7 +243,6 @@ RTL::set_rtl_item()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -269,7 +266,6 @@ RTL::set_rtl_item()
_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;