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author | Kynos <mail01@delago.net> | 2014-06-15 12:30:06 +0200 |
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committer | Kynos <mail01@delago.net> | 2014-06-15 12:30:06 +0200 |
commit | 137564b4a6b78c82a4c38ebd02782c531f259c19 (patch) | |
tree | d83e97fca1c3a8e052cf957e6a12b44dc1d8dafa /src/modules/navigator/navigator_main.cpp | |
parent | 7724e3d889eecd6733c6e85341a9f0b97faa37cf (diff) | |
parent | 251760679a4bed86fdb10746062fde2cc23e460f (diff) | |
download | px4-firmware-137564b4a6b78c82a4c38ebd02782c531f259c19.tar.gz px4-firmware-137564b4a6b78c82a4c38ebd02782c531f259c19.tar.bz2 px4-firmware-137564b4a6b78c82a4c38ebd02782c531f259c19.zip |
Merge master with the exception of ubx.cpp and ubx.h
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 42 |
1 files changed, 24 insertions, 18 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 401d50f7e..06e0c5904 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1458,7 +1458,6 @@ Navigator::check_mission_item_reached() /* XXX TODO count turns */ if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && _mission_item.loiter_radius > 0.01f) { @@ -1477,27 +1476,27 @@ Navigator::check_mission_item_reached() acceptance_radius = _parameters.acceptance_radius; } - float dist = -1.0f; - float dist_xy = -1.0f; - float dist_z = -1.0f; - - /* calculate AMSL altitude for this waypoint */ - float wp_alt_amsl = _mission_item.altitude; - - if (_mission_item.altitude_is_relative) - wp_alt_amsl += _home_pos.alt; - - dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, - (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, - &dist_xy, &dist_z); - if (_do_takeoff) { - if (_global_pos.alt > wp_alt_amsl - acceptance_radius) { - /* require only altitude for takeoff */ + /* require only altitude for takeoff */ + if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) { _waypoint_position_reached = true; } } else { + float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + + /* calculate AMSL altitude for this waypoint */ + float wp_alt_amsl = _mission_item.altitude; + + if (_mission_item.altitude_is_relative) + wp_alt_amsl += _home_pos.alt; + + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, + (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, + &dist_xy, &dist_z); + if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; } @@ -1567,7 +1566,14 @@ Navigator::on_mission_item_reached() } if (_mission.current_mission_available()) { - set_mission_item(); + if (_mission_item.autocontinue) { + /* continue mission */ + set_mission_item(); + + } else { + /* autocontinue disabled for this item */ + request_loiter_or_ready(); + } } else { /* if no more mission items available then finish mission */ |