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wait until until vehicle enters transition before continuing after transition command

This commit is contained in:
Andreas Antener 2016-01-30 14:17:23 +01:00
parent 1351c6f68c
commit e32ec2a29a
3 changed files with 13 additions and 5 deletions
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1
posix-configs/SITL/init/rcS_gazebo_standard_vtol
View File

@ -30,6 +30,7 @@ param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.0
param set SENS_BOARD_ROT 8
param set COM_RC_IN_MODE 1
param set NAV_ACC_RAD 3.0
rgbledsim start
tone_alarm start
gyrosim start

2
src/modules/navigator/mission.cpp
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@ -432,7 +432,7 @@ Mission::set_mission_items()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
mavlink_log_info(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat;

15
src/modules/navigator/mission_block.cpp
View File

@ -105,11 +105,18 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_LOITER_UNLIMITED:
return false;
case NAV_CMD_DO_DIGICAM_CONTROL: /* fallthrough */
case NAV_CMD_DO_DIGICAM_CONTROL:
return true;
case NAV_CMD_DO_VTOL_TRANSITION:
// XXX: we should wait on command ACK or status change instead
// currently we just wait so the command can be processed
if (hrt_absolute_time() - _action_start > 1000) {
/*
* We wait half a second to give the transition command time to propagate.
* As soon as the timeout is over or when we're in transition mode let the mission continue.
*/
if (hrt_absolute_time() - _action_start > 500000 ||
_navigator->get_vstatus()->in_transition_mode) {
_action_start = 0;
return true;
} else {