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navigator: takeoff fix, always reach takeoff altitude, even if first waypoint is lower

This commit is contained in:
Anton Babushkin 2014-05-22 19:52:22 +02:00
parent 1ce1ece0bb
commit 4ee647015a
1 changed files with 16 additions and 16 deletions
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32
src/modules/navigator/navigator_main.cpp
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@ -1477,27 +1477,27 @@ Navigator::check_mission_item_reached()
acceptance_radius = _parameters.acceptance_radius;
}
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_do_takeoff) {
if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
/* require only altitude for takeoff */
/* require only altitude for takeoff */
if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
_waypoint_position_reached = true;
}
} else {
float dist = -1.0f;
float dist_xy = -1.0f;
float dist_z = -1.0f;
/* calculate AMSL altitude for this waypoint */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (dist >= 0.0f && dist <= acceptance_radius) {
_waypoint_position_reached = true;
}