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Fixed-wing: allow mission takeoff

This commit is contained in:
Andreas Antener 2017-01-13 07:24:18 +01:00 committed by Lorenz Meier
parent 78c0186ff8
commit 338804606a
2 changed files with 12 additions and 5 deletions
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15
src/modules/navigator/mission.cpp
View File

@ -554,7 +554,8 @@ Mission::set_mission_items()
set_previous_pos_setpoint();
/* do takeoff before going to setpoint if needed and not already in takeoff */
if (do_need_takeoff() &&
/* in fixed-wing this whole block will be ignored and a takeoff item is always propagated */
if (do_need_vertical_takeoff() &&
_work_item_type == WORK_ITEM_TYPE_DEFAULT &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
@ -580,7 +581,11 @@ Mission::set_mission_items()
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT
&& _navigator->get_vstatus()->is_rotary_wing) {
/* if there is no need to do a takeoff but we have a takeoff item, treat is as waypoint */
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
@ -591,7 +596,9 @@ Mission::set_mission_items()
*/
_mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
if (_navigator->get_vstatus()->is_rotary_wing) {
/* haven't transitioned yet, trigger vtol takeoff logic below */
@ -846,7 +853,7 @@ Mission::set_mission_items()
}
bool
Mission::do_need_takeoff()
Mission::do_need_vertical_takeoff()
{
if (_navigator->get_vstatus()->is_rotary_wing) {

2
src/modules/navigator/mission.h
View File

@ -120,7 +120,7 @@ private:
/**
* Returns true if we need to do a takeoff at the current state
*/
bool do_need_takeoff();
bool do_need_vertical_takeoff();
/**
* Returns true if we need to move to waypoint location before starting descent