Mirrors_Framework/PX4-Autopilot
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ignore wp altitude for intermediate landing wp so it doesn't descent before it is in landing mode

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This commit is contained in:
Andreas Antener
2016-02-02 23:04:56 +01:00
parent fec7950424
commit b05465470a
1 changed files with 11 additions and 0 deletions
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src/modules/navigator/mission.cpp
+11
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@@ -458,9 +458,20 @@ Mission::set_mission_items()
memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s)); memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s));
has_next_position_item = true; has_next_position_item = true;
/*
* Ignoring waypoint altitude:
* Set altitude to the same as we have now to prevent descending too fast into
* the ground. Actual landing will descend anyway until it touches down.
*/
float altitude = _navigator->get_global_position()->alt;
if (pos_sp_triplet->current.valid) {
altitude = pos_sp_triplet->current.alt;
}
_mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
_mission_item.time_inside = 0; _mission_item.time_inside = 0;
_mission_item.altitude = altitude;
} }
/* we just moved to the landing waypoint, now descend */ /* we just moved to the landing waypoint, now descend */