Mirrors_Framework/PX4-Autopilot
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wait until until vehicle enters transition before continuing after transition command

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This commit is contained in:
Andreas Antener
2016-01-30 14:17:23 +01:00
parent 1351c6f68c
commit e32ec2a29a
3 changed files with 13 additions and 5 deletions
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posix-configs/SITL/init/rcS_gazebo_standard_vtol
+1
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@@ -30,6 +30,7 @@ param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.0 param set MPC_Z_VEL_MAX 1.0
param set SENS_BOARD_ROT 8 param set SENS_BOARD_ROT 8
param set COM_RC_IN_MODE 1 param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 3.0
rgbledsim start rgbledsim start
tone_alarm start tone_alarm start
gyrosim start gyrosim start
src/modules/navigator/mission.cpp
+1 -1
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@@ -432,7 +432,7 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item); float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt)); mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lat = _navigator->get_global_position()->lat;
src/modules/navigator/mission_block.cpp
+11 -4
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@@ -105,11 +105,18 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_LOITER_UNLIMITED: case NAV_CMD_LOITER_UNLIMITED:
return false; return false;
case NAV_CMD_DO_DIGICAM_CONTROL: /* fallthrough */ case NAV_CMD_DO_DIGICAM_CONTROL:
return true;
case NAV_CMD_DO_VTOL_TRANSITION: case NAV_CMD_DO_VTOL_TRANSITION:
// XXX: we should wait on command ACK or status change instead /*
// currently we just wait so the command can be processed * We wait half a second to give the transition command time to propagate.
if (hrt_absolute_time() - _action_start > 1000) { * As soon as the timeout is over or when we're in transition mode let the mission continue.
*/
if (hrt_absolute_time() - _action_start > 500000 ||
_navigator->get_vstatus()->in_transition_mode) {
_action_start = 0;
return true; return true;
} else { } else {