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px4-firmware
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navigator: wait before landing in RTL

This commit is contained in:
Anton Babushkin 2014-01-27 12:07:27 +01:00
parent 4cfff5d8e5
commit 1e63e8d932
2 changed files with 7 additions and 2 deletions
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8
src/modules/navigator/navigator_main.cpp
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@ -198,6 +198,7 @@ private:
float takeoff_alt;
float land_alt;
float rtl_alt;
float rtl_land_delay;
} _parameters; /**< local copies of parameters */
struct {
@ -208,6 +209,7 @@ private:
param_t takeoff_alt;
param_t land_alt;
param_t rtl_alt;
param_t rtl_land_delay;
} _parameter_handles; /**< handles for parameters */
enum Event {
@ -406,6 +408,7 @@ Navigator::Navigator() :
_parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT");
_parameter_handles.land_alt = param_find("NAV_LAND_ALT");
_parameter_handles.rtl_alt = param_find("NAV_RTL_ALT");
_parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T");
memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s));
memset(&_mission_result, 0, sizeof(struct mission_result_s));
@ -463,6 +466,7 @@ Navigator::parameters_update()
param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
param_get(_parameter_handles.land_alt, &(_parameters.land_alt));
param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
param_get(_parameter_handles.rtl_land_delay, &(_parameters.rtl_land_delay));
_mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled);
@ -1299,9 +1303,9 @@ Navigator::set_rtl_item()
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _parameters.acceptance_radius;
_mission_item.time_inside = 0.0f;
_mission_item.time_inside = _parameters.rtl_land_delay < 0.0 ? 0.0f : _parameters.rtl_land_delay;
_mission_item.pitch_min = 0.0f;
_mission_item.autocontinue = true;
_mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f;
_mission_item.origin = ORIGIN_ONBOARD;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);

1
src/modules/navigator/navigator_params.c
View File

@ -60,3 +60,4 @@ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, 10.0f); // delay after descend before landing