- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
NAV_CMD_LOITER_TO_ALT
- this allows vtol to track the loiter circle during the transition instead
of trying to fly to the landing position
Signed-off-by: RomanBapst <bapstroman@gmail.com>
- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* Enable offboard gliding position setpoints
Adds a capability to make the vehicle glide when given position setpoints.
Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE, POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan
* Handle nans for curise_throttle
This reverts the addition of a check against mission items that have the
same position. This breaks existing MAVSDK implementations where a
LOITER_TIME item is set right after a WAYPOINT with the same
coordinates. It is an interim hack to allow the vehicle to hold still
during a photo is captured.
This leaves the check in place for gates where we need to be able to
calculate the direction between gate and waypoint.
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This is a corner case that happens when the user wants to command an
altitude change just after a takeoff. Takeoff doesn't set the current
lat and lon therefore the user had to change altitude twice to get it working.
The first time to set the current lat and lon and the second time to
actually change altitude.
Before this check we were free to fly outside of a geofence with a goto
command. With this check we ignore the command if the location of the goto
is outside the fence. If this is the case we send back a mavlink warning to
the ground station.
RomanBapst