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Fixed-wing: allow mission takeoff

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This commit is contained in:
Andreas Antener
2017-01-13 07:24:18 +01:00
committed by Lorenz Meier
parent 78c0186ff8
commit 338804606a
2 changed files with 12 additions and 5 deletions
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src/modules/navigator/mission.cpp
+11 -4
View File
@@ -554,7 +554,8 @@ Mission::set_mission_items()
set_previous_pos_setpoint(); set_previous_pos_setpoint();
/* do takeoff before going to setpoint if needed and not already in takeoff */ /* do takeoff before going to setpoint if needed and not already in takeoff */
if (do_need_takeoff() && /* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
if (do_need_vertical_takeoff() &&
_work_item_type == WORK_ITEM_TYPE_DEFAULT && _work_item_type == WORK_ITEM_TYPE_DEFAULT &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT) { new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
@@ -580,7 +581,11 @@ Mission::set_mission_items()
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f; _mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT
&& _navigator->get_vstatus()->is_rotary_wing) {
/* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */ /* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */
_mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
@@ -591,7 +596,9 @@ Mission::set_mission_items()
*/ */
_mission_item.time_inside = 0.0f; _mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) { } else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
if (_navigator->get_vstatus()->is_rotary_wing) { if (_navigator->get_vstatus()->is_rotary_wing) {
/* haven't transitioned yet, trigger vtol takeoff logic below */ /* haven't transitioned yet, trigger vtol takeoff logic below */
@@ -846,7 +853,7 @@ Mission::set_mission_items()
} }
bool bool
Mission::do_need_takeoff() Mission::do_need_vertical_takeoff()
{ {
if (_navigator->get_vstatus()->is_rotary_wing) { if (_navigator->get_vstatus()->is_rotary_wing) {
src/modules/navigator/mission.h
+1 -1
View File
@@ -120,7 +120,7 @@ private:
/** /**
* Returns true if we need to do a takeoff at the current state * Returns true if we need to do a takeoff at the current state
*/ */
bool do_need_takeoff(); bool do_need_vertical_takeoff();
/** /**
* Returns true if we need to move to waypoint location before starting descent * Returns true if we need to move to waypoint location before starting descent