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fw_pos_control_l1: add takeoff minimum pitch parameter

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- remove mavlink mechanism for setting minimum pitch
This commit is contained in:
Daniel Agar
2021-02-12 13:57:15 -05:00
parent 89f19fd657
commit f61d8539cb
15 changed files with 39 additions and 42 deletions
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src/modules/mavlink/mavlink_mission.cpp
+11 -11
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@@ -1305,13 +1305,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->altitude_is_relative = true;
}
/* this field is shared with pitch_min (and circle_radius for geofence) 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) {
case MAV_CMD_NAV_WAYPOINT:
mission_item->nav_cmd = NAV_CMD_WAYPOINT;
@@ -1345,9 +1338,17 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
break;
case MAV_CMD_NAV_TAKEOFF:
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->pitch_min = mavlink_mission_item->param1;
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
// reject takeoff item if minimum pitch (parameter 1) is set
if (PX4_ISFINITE(mavlink_mission_item->param1) && (fabsf(mavlink_mission_item->param1) > FLT_EPSILON)) {
_mavlink->send_statustext_critical("Takeoff rejected, remove deprecated minimum pitch");
return MAV_MISSION_INVALID_PARAM1;
} else {
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
}
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
@@ -1652,7 +1653,6 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
break;
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;