fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 01:13:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

added auto takeoff support, updated configuration for solo and generalized landing mission items

Browse Source
This commit is contained in:
Andreas Antener
2015-12-28 15:21:50 +01:00
committed by Lorenz Meier
parent 3847c826ec
commit fbf42c8949
13 changed files with 287 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+48
View File
@@ -323,3 +323,51 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance,
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_location)
{
item->nav_cmd = NAV_CMD_LAND;
/* use current position */
if (at_current_location) {
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
/* use home position */
} else {
item->lat = _navigator->get_home_position()->lat;
item->lon = _navigator->get_home_position()->lon;
}
item->altitude = 0;
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_idle_item(struct mission_item_s *item)
{
item->nav_cmd = NAV_CMD_IDLE;
item->lat = _navigator->get_home_position()->lat;
item->lon = _navigator->get_home_position()->lon;
item->altitude_is_relative = false;
item->altitude = _navigator->get_home_position()->alt;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}