Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-19 02:23:58 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

commander home position update swap incorrect eph/epv for auto update

Browse Source
This commit is contained in:
Daniel Agar
2018-03-25 13:44:09 -04:00
parent deb5cbcc82
commit c181501e27
1 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+5 -4
View File
@@ -2816,7 +2816,7 @@ Commander::run()
/* Get current timestamp */
const hrt_abstime now = hrt_absolute_time();
// automaticcally set or update home position
// automatically set or update home position
if (!_home.manual_home) {
if (armed.armed) {
if ((!was_armed || (was_landed && !land_detector.landed)) &&
@@ -2831,10 +2831,11 @@ Commander::run()
/* distance from home */
float home_dist_xy = -1.0f;
float home_dist_z = -1.0f;
mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z, local_position.x, local_position.y,
local_position.z, &home_dist_xy, &home_dist_z);
mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z,
local_position.x, local_position.y, local_position.z,
&home_dist_xy, &home_dist_z);
if (home_dist_xy > local_position.epv * 2 || home_dist_z > local_position.eph * 2) {
if ((home_dist_xy > local_position.eph * 2) || (home_dist_z > local_position.epv * 2)) {
/* update when disarmed, landed and moved away from current home position */
set_home_position(home_pub, _home, local_position, global_position, false);