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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 11:09:49 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 11:09:49 +0200 |
| commit | 52eb49ba0bd1ea5a05845350f1b3c46f0b059a39 (patch) | |
| tree | c2beb161dc4a8a439b6721b6e0903242c833e706 /src/modules/navigator/rtl.cpp | |
| parent | 1bae18377a444279f91b75281ffde5da70cc6086 (diff) | |
| download | px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.tar.gz px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.tar.bz2 px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.zip | |
navigator: use common "acceptance radius" parameter for all modes
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index b7961a260..af2ff308c 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -61,8 +61,7 @@ RTL::RTL(Navigator *navigator, const char *name) : _rtl_state(RTL_STATE_NONE), _param_return_alt(this, "RETURN_ALT"), _param_descend_alt(this, "DESCEND_ALT"), - _param_land_delay(this, "LAND_DELAY"), - _param_acceptance_radius(this, "ACCEPT_RAD") + _param_land_delay(this, "LAND_DELAY") { /* load initial params */ updateParams(); @@ -147,7 +146,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -178,7 +177,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -198,7 +197,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = false; @@ -220,7 +219,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get(); _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = autoland; @@ -246,7 +245,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_LAND; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -265,7 +264,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_IDLE; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; |