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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 14:41:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 14:41:35 +0200 |
| commit | 3f37efc046c9f3d2d6ee4a39f67ed5e20a6866ac (patch) | |
| tree | 0a2a87eacad3378825b3fe6453cb3aa7c61090b9 /src/modules/bottle_drop | |
| parent | 8e9eddcc748b2195631a49809b5a7bc846462e8c (diff) | |
| download | px4-firmware-3f37efc046c9f3d2d6ee4a39f67ed5e20a6866ac.tar.gz px4-firmware-3f37efc046c9f3d2d6ee4a39f67ed5e20a6866ac.tar.bz2 px4-firmware-3f37efc046c9f3d2d6ee4a39f67ed5e20a6866ac.zip | |
Fix a bunch of stupid mistakes on coordinates / distances, set number of waypoints to zero once reached
Diffstat (limited to 'src/modules/bottle_drop')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 81d1238cf..2bd1f679b 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -636,7 +636,7 @@ BottleDrop::task_main() case DROP_STATE_TARGET_SET: { - float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon); + float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon); if (distance_wp2 < distance_real) { _onboard_mission.current_seq = 0; @@ -674,7 +674,7 @@ BottleDrop::task_main() mavlink_log_info(_mavlink_fd, "#audio: payload dropped"); } else { - float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon); + float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon); if (distance_wp2 < distance_real) { _onboard_mission.current_seq = 0; @@ -696,6 +696,7 @@ BottleDrop::task_main() // remove onboard mission _onboard_mission.current_seq = -1; + _onboard_mission.count = 0; orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } break; |