Mirrors_Framework/PX4-Autopilot
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Navigator: Run faster

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This commit is contained in:
Lorenz Meier
2016-05-09 22:59:57 +02:00
parent 4ed112b259
commit b9333d95f4
2 changed files with 13 additions and 3 deletions
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src/modules/navigator/navigator_main.cpp
+3 -1
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@@ -319,11 +319,13 @@ Navigator::task_main()
params_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[1] = {};
px4_pollfd_struct_t fds[2] = {};
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _vehicle_command_sub;
fds[1].events = POLLIN;
bool global_pos_available_once = false;
src/modules/navigator/takeoff.cpp
+10 -2
View File
@@ -73,14 +73,14 @@ Takeoff::on_inactive()
void
Takeoff::on_activation()
{
/* set current mission item to Takeoff */
// set current mission item to takeoff
set_takeoff_item(&_mission_item, _param_min_alt.get());
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
/* convert mission item to current setpoint */
// convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
@@ -88,6 +88,14 @@ Takeoff::on_activation()
pos_sp_triplet->current.yaw_valid = true;
pos_sp_triplet->next.valid = false;
// check if a specific target altitude has been set
struct position_setpoint_triplet_s *rep = _navigator->get_reposition_triplet();
if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) {
pos_sp_triplet->current.alt = rep->current.alt;
// mark this as done
memset(rep, 0, sizeof(*rep));
}
_navigator->set_can_loiter_at_sp(true);
_navigator->set_position_setpoint_triplet_updated();