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transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem

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This commit is contained in:
Andreas Antener
2016-02-15 23:29:38 +01:00
parent bb4decfa8b
commit eb5b8a32ee
11 changed files with 46 additions and 5 deletions
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src/modules/navigator/mission_params.c
+2 -1
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@@ -113,7 +113,8 @@ PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
*
* Prevents missions getting blocked at waypoints because it cannot reach target yaw.
* Mainly useful for VTOLs that have less yaw authority and might not reach target
* yaw in wind. Disabled by default. Can be set to 0 if it should not care for yaw on waypoints.
* yaw in wind. Disabled by default. If set to 0 it will not wait for yaw to align,
* however VTOL transitions will abort if heading is not reached.
*
* @min -1
* @max 20