Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 11:06:04 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

fw pos ctrl: turn back to takeoff point with npfg

Browse Source
This commit is contained in:
Thomas Stastny
2022-05-06 11:41:18 +02:00
parent 3ef5f433b5
commit 90789be68f
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -1
View File
@@ -1512,7 +1512,9 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const Vec
if (_param_fw_use_npfg.get()) { if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas); _npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas); _npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); // NOTE: current waypoint is passed twice to trigger the "point following" logic -- TODO: create
// point following navigation interface instead of this hack.
_npfg.navigateWaypoints(curr_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint()); _att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint());
target_airspeed = _npfg.getAirspeedRef() / _eas2tas; target_airspeed = _npfg.getAirspeedRef() / _eas2tas;