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Commander: set home position in air

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en/dis-able in-air home position via parameter COM_HOME_IN_AIR
This commit is contained in:
bresch
2020-12-07 10:24:23 -05:00
committed by Daniel Agar
parent e8cefcafbc
commit f3e5b86b06
4 changed files with 134 additions and 39 deletions
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src/modules/commander/Commander.hpp
+7
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@@ -157,6 +157,12 @@ private:
bool set_home_position();
bool set_home_position_alt_only();
bool set_in_air_home_position();
bool isGPosGoodForInitializingHomePos(const vehicle_global_position_s &gpos) const;
void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos) const;
void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos) const;
void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt) const;
void setHomePosValid();
void updateHomePositionYaw(float yaw);
void update_control_mode();
@@ -187,6 +193,7 @@ private:
(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
(ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, /*Not realy used for now*/