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Rebase of vtol_land_weathervane patch

This commit is contained in:
Sander Smeets 2016-11-04 00:59:49 +01:00 committed by Andreas Antener
parent 4bcf2cdb52
commit 39cc75b4a0
3 changed files with 5 additions and 2 deletions
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1
src/modules/navigator/mission.cpp
View File

@ -622,6 +622,7 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
_mission_item.disable_mc_yaw = true;
}
/* we just moved to the landing waypoint, now descend */

3
src/modules/navigator/mission_block.cpp
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@ -488,7 +488,8 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
_navigator->get_loiter_radius();
sp->loiter_direction = (item->loiter_radius > 0) ? 1 : -1;
sp->acceptance_radius = item->acceptance_radius;
sp->disable_mc_yaw_control = false;
sp->disable_mc_yaw_control = item->disable_mc_yaw;
sp->cruising_speed = _navigator->get_cruising_speed();
sp->cruising_throttle = _navigator->get_cruising_throttle();

3
src/modules/navigator/navigation.h
View File

@ -127,7 +127,8 @@ struct mission_item_s {
loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
force_heading : 1, /**< heading needs to be reached ***/
altitude_is_relative : 1, /**< true if altitude is relative from start point */
autocontinue : 1; /**< true if next waypoint should follow after this one */
autocontinue : 1, /**< true if next waypoint should follow after this one */
disable_mc_yaw : 1; /**< weathervane mode */
};
};
#pragma pack(pop)