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Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-02-09 11:08:43 +01:00
committed by Daniel Agar
parent dcde0d0559
commit 1d6396b418
2 changed files with 7 additions and 3 deletions
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src/modules/navigator/land.cpp
+6 -2
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@@ -74,8 +74,12 @@ Land::on_active()
if (_navigator->get_vstatus()->is_vtol && if (_navigator->get_vstatus()->is_vtol &&
_navigator->get_vstatus()->in_transition_mode) { _navigator->get_vstatus()->in_transition_mode) {
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; // create a virtual wp 1m in front of the vehicle to track during the backtransition
waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_navigator->get_position_setpoint_triplet()->current.yaw, 1.f,
&pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);
_navigator->set_position_setpoint_triplet_updated(); _navigator->set_position_setpoint_triplet_updated();
} }
src/modules/navigator/mission_block.cpp
+1 -1
View File
@@ -795,7 +795,7 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION; item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode; item->params[0] = (float) new_mode;
item->params[1] = 0.0f; item->params[1] = 0.0f;
item->yaw = _navigator->get_local_position()->heading; item->yaw = _navigator->get_local_position()->heading; // ideally that would be course and not heading
item->autocontinue = true; item->autocontinue = true;
} }