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

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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
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src/modules/navigator/rtl.cpp
+2 -27
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@@ -243,39 +243,14 @@ RTL::set_rtl_item()
}
case RTL_STATE_LAND: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt;
_mission_item.yaw = _navigator->get_home_position()->yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
set_land_item(&_mission_item, false);
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: land at home");
break;
}
case RTL_STATE_LANDED: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt;
// Do not change / control yaw in landed
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_IDLE;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
set_idle_item(&_mission_item);
mavlink_log_critical(_navigator->get_mavlink_fd(), "RTL: completed, landed");
break;