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This fix is needed because of the pitch_min and time_inside union from mission_item. 

Without this fix, the function "get_time_inside" from navigation.h looses its purpose
to distinguish between takeoff and other waypoints.
This commit is contained in:
Dennis Mannhart 2016-12-28 18:23:25 +01:00 committed by Lorenz Meier
parent c597a8e1df
commit d0d6b39602
1 changed files with 5 additions and 1 deletions
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6
src/modules/navigator/mission.cpp
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@ -584,6 +584,11 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
_mission_item.yaw = NAN;
/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
* since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
* Note also that resetting time_inside to zero will cause pitch_min to be zero as well.
*/
_mission_item.time_inside = 0.0f;
} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF) {
@ -812,7 +817,6 @@ Mission::set_mission_items()
if (_mission_item.autocontinue && Navigator::get_time_inside(_mission_item) < FLT_EPSILON) {
/* try to process next mission item */
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->next);