diff options
| m--------- | NuttX | 0 | ||||
| -rw-r--r-- | nuttx-configs/aerocore/nsh/defconfig | 2 | ||||
| -rw-r--r-- | nuttx-configs/px4fmu-v1/nsh/defconfig | 2 | ||||
| -rw-r--r-- | nuttx-configs/px4fmu-v2/nsh/defconfig | 2 | ||||
| -rwxr-xr-x | nuttx-configs/px4io-v1/nsh/defconfig | 1 | ||||
| -rwxr-xr-x | nuttx-configs/px4io-v2/nsh/defconfig | 1 | ||||
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 10 |
7 files changed, 9 insertions, 9 deletions
diff --git a/NuttX b/NuttX -Subproject 088146b90eee5b614ea6386a64dae343a49a517 +Subproject 41fffa0df192e4a26d2325c7ac5d9b5d7ba0211 diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig index 8d0bae7b9..317194f68 100644 --- a/nuttx-configs/aerocore/nsh/defconfig +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index a651faffa..d7697cd67 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -309,7 +309,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index a55c95a29..bd956f7bf 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -350,7 +350,7 @@ CONFIG_SDIO_PRI=128 # CONFIG_ARCH_NOINTC is not set # CONFIG_ARCH_VECNOTIRQ is not set CONFIG_ARCH_DMA=y -CONFIG_ARCH_IRQPRIO=y +# CONFIG_ARCH_IRQPRIO is not set # CONFIG_CUSTOM_STACK is not set # CONFIG_ADDRENV is not set CONFIG_ARCH_HAVE_VFORK=y diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig index 3785e0367..512c6a0f2 100755 --- a/nuttx-configs/px4io-v1/nsh/defconfig +++ b/nuttx-configs/px4io-v1/nsh/defconfig @@ -83,7 +83,6 @@ CONFIG_ARCH_BOARD="px4io-v1" CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index e6563e587..02b51e3d7 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y CONFIG_BOARD_LOOPSPERMSEC=2000 CONFIG_DRAM_SIZE=0x00002000 CONFIG_DRAM_START=0x20000000 -CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n 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 |