Mirrors_Framework/PX4-Autopilot
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don't use waypoint heading for landing descent

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This commit is contained in:
Andreas Antener
2016-02-02 23:44:56 +01:00
parent b05465470a
commit 134e95efda
1 changed files with 8 additions and 0 deletions
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src/modules/navigator/mission.cpp
+8
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@@ -437,6 +437,7 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon; _mission_item.lon = _navigator->get_global_position()->lon;
/* ignore yaw for takeoff items */
_mission_item.yaw = NAN; _mission_item.yaw = NAN;
_mission_item.altitude = takeoff_alt; _mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false; _mission_item.altitude_is_relative = false;
@@ -479,6 +480,13 @@ Mission::set_mission_items()
new_work_item_type = WORK_ITEM_TYPE_DEFAULT; new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
} }
/* ignore yaw for landing items */
/* XXX: if specified heading for landing is desired we could add another step before the descent
* that aligns the vehicle first */
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
_mission_item.yaw = NAN;
}
/* handle non-position mission items such as commands */ /* handle non-position mission items such as commands */
} else { } else {