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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-29 14:39:36 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-29 14:39:36 +0100 |
commit | 591b355981c781f6d30a6697b690225031792cfc (patch) | |
tree | 653460dfab45c88696004ed243fdb992a10160ab /src/modules/navigator/navigator_main.cpp | |
parent | 48cec50dd30cd2b3163aedbeb11ae52866e2601b (diff) | |
download | px4-firmware-591b355981c781f6d30a6697b690225031792cfc.tar.gz px4-firmware-591b355981c781f6d30a6697b690225031792cfc.tar.bz2 px4-firmware-591b355981c781f6d30a6697b690225031792cfc.zip |
setpoint type IDLE added (for AUTO_READY state), LAND mode fixed
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 46 |
1 files changed, 33 insertions, 13 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 80bb1b752..73514185b 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1030,8 +1030,11 @@ void Navigator::start_ready() { _pos_sp_triplet.previous.valid = false; - _pos_sp_triplet.current.valid = false; + _pos_sp_triplet.current.valid = true; _pos_sp_triplet.next.valid = false; + + _pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE; + _mission_item_valid = false; _reset_loiter_pos = true; @@ -1229,20 +1232,32 @@ Navigator::start_rtl() void Navigator::start_land() { + /* this state can be requested by commander even if no global position available, + * in his case controller must perform landing without position control */ _do_takeoff = false; _reset_loiter_pos = true; - _pos_sp_triplet.previous.valid = false; - _pos_sp_triplet.next.valid = false; + memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); - _pos_sp_triplet.current.valid = true; - _pos_sp_triplet.current.type = SETPOINT_TYPE_LAND; - _pos_sp_triplet.current.lat = _global_pos.lat; - _pos_sp_triplet.current.lon = _global_pos.lon; - _pos_sp_triplet.current.alt = _global_pos.alt; - _pos_sp_triplet.current.loiter_direction = 1; - _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; - _pos_sp_triplet.current.yaw = NAN; + _mission_item_valid = true; + + _mission_item.lat = _global_pos.lat; + _mission_item.lon = _global_pos.lon; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _global_pos.alt; + _mission_item.yaw = NAN; + _mission_item.loiter_radius = _parameters.loiter_radius; + _mission_item.loiter_direction = 1; + _mission_item.nav_cmd = NAV_CMD_LAND; + _mission_item.acceptance_radius = _parameters.acceptance_radius; + _mission_item.time_inside = 0.0f; + _mission_item.pitch_min = 0.0f; + _mission_item.autocontinue = true; + _mission_item.origin = ORIGIN_ONBOARD; + + position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); + + _pos_sp_triplet.next.valid = false; } void @@ -1546,8 +1561,8 @@ Navigator::on_mission_item_reached() } } - } else { - /* RTL finished */ + } else if (myState == NAV_STATE_RTL) { + /* RTL completed */ if (_rtl_state == RTL_STATE_LAND) { /* landed at home position */ mavlink_log_info(_mavlink_fd, "[navigator] RTL completed, landed"); @@ -1558,6 +1573,11 @@ Navigator::on_mission_item_reached() _rtl_state = (RTLState)(_rtl_state + 1); set_rtl_item(); } + + } else if (myState == NAV_STATE_LAND) { + /* landing completed */ + mavlink_log_info(_mavlink_fd, "[navigator] landing completed"); + dispatch(EVENT_READY_REQUESTED); } } |