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px4-firmware
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navigator: RTL return altitude fixed

This commit is contained in:
Anton Babushkin 2014-06-25 17:56:30 +02:00
parent bdf1b9274c
commit 39454ca99d
1 changed files with 31 additions and 28 deletions
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59
src/modules/navigator/rtl.cpp
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@ -44,6 +44,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
@ -112,21 +113,29 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
/* if switching directly to return state, set altitude setpoint to current altitude */
if (_rtl_state == RTL_STATE_RETURN) {
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
if (_rtl_state == RTL_STATE_FINISHED) {
/* RTL finished, nothing to do */
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
return;
}
set_previous_pos_setpoint(pos_sp_triplet);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@ -157,17 +166,20 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
// don't change altitude
/* TODO: add this again */
// don't change altitude
// if (_pos_sp_triplet.previous.valid) {
// /* if previous setpoint is valid then use it to calculate heading to home */
// _mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon);
if (pos_sp_triplet->previous.valid) {
/* if previous setpoint is valid then use it to calculate heading to home */
_mission_item.yaw = get_bearing_to_next_waypoint(
pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
_mission_item.lat, _mission_item.lon);
// } else {
// /* else use current position */
// _mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon);
// }
} else {
/* else use current position */
_mission_item.yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_mission_item.lat, _mission_item.lon);
}
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@ -228,24 +240,15 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
break;
}
case RTL_STATE_FINISHED: {
/* nothing to do, report fail */
}
default:
break;
}
if (_rtl_state == RTL_STATE_FINISHED) {
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
} else {
/* if not finished, convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
}
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
}
void