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Fix aligning to next waypoint for regular transition command

sbg
sander 9 years ago committed by Lorenz Meier
parent
3f256a778d
commit
1a20de7908
1 changed files with 4 additions and 3 deletions
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  1. 7
      src/modules/navigator/mission.cpp

7
src/modules/navigator/mission.cpp
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@ -478,6 +478,7 @@ Mission::set_mission_items() @@ -478,6 +478,7 @@ Mission::set_mission_items()
&& has_next_position_item) {
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_mission_item.yaw = NAN;
new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF;
} else {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
@ -570,8 +571,8 @@ Mission::set_mission_items() @@ -570,8 +571,8 @@ Mission::set_mission_items()
} else {
/* turn towards next waypoint before MC to FW transition */
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type != WORK_ITEM_TYPE_ALIGN
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed
&& has_next_position_item) {
@ -592,7 +593,7 @@ Mission::set_mission_items() @@ -592,7 +593,7 @@ Mission::set_mission_items()
&& !_navigator->get_vstatus()->condition_landed
&& pos_sp_triplet->current.valid) {
new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
//new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
}
/* after FW to MC transition finish moving to the waypoint */

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