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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 <mavlink/mavlink_log.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/mission.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) { if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED; _rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */ /* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) { + _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB; _rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */ /* otherwise go straight to return */
} else { } else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN; _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_FINISHED) {
if (_rtl_state == RTL_STATE_RETURN) { /* RTL finished, nothing to do */
_mission_item.altitude_is_relative = false; pos_sp_triplet->current.valid = false;
_mission_item.altitude = _navigator->get_global_position()->alt; pos_sp_triplet->next.valid = false;
} return;
}
set_previous_pos_setpoint(pos_sp_triplet);
switch (_rtl_state) { switch (_rtl_state) {
case RTL_STATE_CLIMB: { 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.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon; _mission_item.lon = _navigator->get_home_position()->lon;
// don't change altitude
/* TODO: add this again */ if (pos_sp_triplet->previous.valid) {
// don't change altitude /* if previous setpoint is valid then use it to calculate heading to home */
// if (_pos_sp_triplet.previous.valid) { _mission_item.yaw = get_bearing_to_next_waypoint(
// /* if previous setpoint is valid then use it to calculate heading to home */ pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
// _mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon); _mission_item.lat, _mission_item.lon);
// } else { } else {
// /* else use current position */ /* else use current position */
// _mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon); _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_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1; _mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@ -228,24 +240,15 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
break; break;
} }
case RTL_STATE_FINISHED: {
/* nothing to do, report fail */
}
default: default:
break; break;
} }
if (_rtl_state == RTL_STATE_FINISHED) { /* convert mission item to current position setpoint and make it valid */
pos_sp_triplet->current.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false; reset_mission_item_reached();
} else { pos_sp_triplet->current.valid = true;
/* if not finished, convert mission item to current position setpoint and make it valid */ pos_sp_triplet->next.valid = false;
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 void