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Fix a bunch of stupid mistakes on coordinates / distances, set number of waypoints to zero once reached

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Lorenz Meier
2014-08-22 14:41:35 +02:00
parent 8e9eddcc74
commit 3f37efc046
1 changed files with 3 additions and 2 deletions
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src/modules/bottle_drop/bottle_drop.cpp
+3 -2
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@@ -636,7 +636,7 @@ BottleDrop::task_main()
case DROP_STATE_TARGET_SET:
{
float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon);
float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon);
if (distance_wp2 < distance_real) {
_onboard_mission.current_seq = 0;
@@ -674,7 +674,7 @@ BottleDrop::task_main()
mavlink_log_info(_mavlink_fd, "#audio: payload dropped");
} else {
float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon);
float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon);
if (distance_wp2 < distance_real) {
_onboard_mission.current_seq = 0;
@@ -696,6 +696,7 @@ BottleDrop::task_main()
// remove onboard mission
_onboard_mission.current_seq = -1;
_onboard_mission.count = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
break;