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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 14:37:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 14:37:12 +0200 |
| commit | 8e9eddcc748b2195631a49809b5a7bc846462e8c (patch) | |
| tree | 7d447d6a99236d6d70d4113c0c0049e35ef5cc39 /src | |
| parent | 04ad990254e51ceb68c91e7ef601f1e281fd7062 (diff) | |
| parent | bdd4f028eec79f09335f888b4857db44968aa07d (diff) | |
| download | px4-firmware-8e9eddcc748b2195631a49809b5a7bc846462e8c.tar.gz px4-firmware-8e9eddcc748b2195631a49809b5a7bc846462e8c.tar.bz2 px4-firmware-8e9eddcc748b2195631a49809b5a7bc846462e8c.zip | |
Merge branch 'test_bottle_drop_paul' into bottle_drop_friday
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 6c3bdb002..81d1238cf 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -404,16 +404,18 @@ BottleDrop::task_main() memset(&update, 0, sizeof(update)); int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - struct mission_item_s flight_vector_s; - struct mission_item_s flight_vector_e; + struct mission_item_s flight_vector_s {}; + struct mission_item_s flight_vector_e {}; flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT; flight_vector_s.acceptance_radius = 50; // TODO: make parameter flight_vector_s.autocontinue = true; + flight_vector_s.altitude_is_relative = false; flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT; flight_vector_e.acceptance_radius = 50; // TODO: make parameter flight_vector_e.autocontinue = true; + flight_vector_s.altitude_is_relative = false; struct wind_estimate_s wind; @@ -583,10 +585,10 @@ BottleDrop::task_main() // Compute flight vector - map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_n, + map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_e, &(flight_vector_s.lat), &(flight_vector_s.lon)); flight_vector_s.altitude = _drop_position.alt; - map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_e, y_drop - turn_radius * wind_direction_e, + map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_n, y_drop - turn_radius * wind_direction_e, &flight_vector_e.lat, &flight_vector_e.lon); flight_vector_e.altitude = _drop_position.alt; //warnx("Flight vector: starting point = %.7f %.7f , end point = %.7f %.7f", flight_vector_s.lat,flight_vector_s.lon,flight_vector_e.lat,flight_vector_e.lon); //////////////////////////////////////////////////////////////////// DEBUGGING |