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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/navigator/mission.cpp
-10
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@@ -752,11 +752,6 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
_mission_item.yaw = NAN;
/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
* since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
* Note also that resetting time_inside to zero will cause pitch_min to be zero as well.
*/
_mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
@@ -783,10 +778,6 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
_mission_item.yaw = NAN;
/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
* since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
*/
_mission_item.time_inside = 0.0f;
}
/* if we just did a VTOL takeoff, prepare transition */
@@ -1864,7 +1855,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
(p1->yawspeed_valid == p2->yawspeed_valid) &&
(fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) &&
(p1->loiter_direction == p2->loiter_direction) &&
(fabsf(p1->pitch_min - p2->pitch_min) < FLT_EPSILON) &&
(fabsf(p1->a_x - p2->a_x) < FLT_EPSILON) &&
(fabsf(p1->a_y - p2->a_y) < FLT_EPSILON) &&
(fabsf(p1->a_z - p2->a_z) < FLT_EPSILON) &&
src/modules/navigator/mission_block.cpp
+1 -5
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@@ -582,9 +582,6 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
} else {
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
// set pitch and ensure that the hold time is zero
sp->pitch_min = item.pitch_min;
}
break;
@@ -667,7 +664,7 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude, float min_pitch)
MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude)
{
item->nav_cmd = NAV_CMD_TAKEOFF;
@@ -680,7 +677,6 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
item->altitude_is_relative = false;
item->loiter_radius = _navigator->get_loiter_radius();
item->pitch_min = min_pitch;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
src/modules/navigator/mission_block.h
+1 -1
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@@ -116,7 +116,7 @@ protected:
/**
* Set a takeoff mission item
*/
void set_takeoff_item(struct mission_item_s *item, float abs_altitude, float min_pitch = 0.0f);
void set_takeoff_item(struct mission_item_s *item, float abs_altitude);
/**
* Set a land mission item
src/modules/navigator/navigation.h
-1
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@@ -153,7 +153,6 @@ struct mission_item_s {
struct {
union {
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
float circle_radius; /**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
};
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */