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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
2018-04-04 18:47:24 -04:00
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) &&