From 0f7c3926143a917b3e444f0f2c6c2cb673f073e4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 22 Aug 2014 14:30:34 +0200 Subject: Initialize altitude is relative field for drop locations --- src/modules/bottle_drop/bottle_drop.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'src/modules/bottle_drop') diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 5d2343cfb..8e96c3e09 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 mission_s onboard_mission; memset(&onboard_mission, 0, sizeof(onboard_mission)); -- cgit v1.2.3 From bdd4f028eec79f09335f888b4857db44968aa07d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 22 Aug 2014 14:36:31 +0200 Subject: Fixed copy-paste errors in drop waypoint coordinates --- src/modules/bottle_drop/bottle_drop.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/bottle_drop') diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 058e90829..5b7f7bd7f 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -587,10 +587,10 @@ 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 -- cgit v1.2.3