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mission: for vtol takeoff don't use next waypoint as target during transition 

- this caused the navigator to use the next waypoint (after the vtol takeoff item)
to be used as target during the transition. If the altitude of that waypoint
was much higher than the takeoff altitude then there were FOH effects
after the transition which caused the vehicle to first descend before
climbing again.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-09-29 12:43:27 +03:00 committed by Lorenz Meier
parent a1b81df445
commit d502292d07
1 changed files with 3 additions and 10 deletions
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13
src/modules/navigator/mission.cpp
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@ -798,17 +798,10 @@ Mission::set_mission_items()
}
set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
_mission_item.yaw = _navigator->get_local_position()->heading;
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
} else {
_mission_item.yaw = _navigator->get_local_position()->heading;
/* set position setpoint to target during the transition */
generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
}
/* set position setpoint to target during the transition */
generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
}
/* takeoff completed and transitioned, move to takeoff wp as fixed wing */