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Navigator: Fix RTL command lnd logic for missions 

The navigator was sending RTL commands in the wrong circumstances leading to a cycle between Navigator and Commander.
This commit is contained in:
Lorenz Meier 2017-05-15 23:54:54 +02:00
parent 32685338c9
commit 9be5193965
3 changed files with 1 additions and 17 deletions
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3
src/modules/navigator/mission.cpp
View File

@ -858,8 +858,7 @@ Mission::do_need_vertical_takeoff()
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) {
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
_need_takeoff = false;
return true;

10
src/modules/navigator/navigator_main.cpp
View File

@ -481,16 +481,6 @@ Navigator::task_main()
PX4_WARN("planned landing not available");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH) {
vehicle_command_s vcmd = {};
vcmd.target_system = get_vstatus()->system_id;
vcmd.target_component = get_vstatus()->component_id;
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(pub);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {
if (get_mission_result()->valid &&

5
src/modules/navigator/rtl.cpp
View File

@ -300,11 +300,6 @@ RTL::set_rtl_item()
reset_mission_item_reached();
/* execute command if set */
if (!item_contains_position(&_mission_item)) {
issue_command(&_mission_item);
}
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;