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mission: keep current heading if close to ROI while heading sp is invalid

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This commit is contained in:
Dusan Zivkovic
2020-05-29 00:48:32 +02:00
committed by Julian Oes
parent a9dacae57e
commit 08fdc90175
1 changed files with 8 additions and 0 deletions
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src/modules/navigator/mission.cpp
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@@ -1321,6 +1321,7 @@ Mission::heading_sp_update()
case vehicle_roi_s::ROI_TARGET: case vehicle_roi_s::ROI_TARGET:
case vehicle_roi_s::ROI_ENUM_END: case vehicle_roi_s::ROI_ENUM_END:
default: { default: {
return;
} }
} }
@@ -1339,6 +1340,13 @@ Mission::heading_sp_update()
_mission_item.yaw = yaw; _mission_item.yaw = yaw;
pos_sp_triplet->current.yaw = _mission_item.yaw; pos_sp_triplet->current.yaw = _mission_item.yaw;
pos_sp_triplet->current.yaw_valid = true; pos_sp_triplet->current.yaw_valid = true;
} else {
if (!pos_sp_triplet->current.yaw_valid) {
_mission_item.yaw = _navigator->get_local_position()->yaw;
pos_sp_triplet->current.yaw = _mission_item.yaw;
pos_sp_triplet->current.yaw_valid = true;
}
} }
// we set yaw directly so we can run this in parallel to the FOH update // we set yaw directly so we can run this in parallel to the FOH update