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navigator takeoff: use global yaw instead of home yaw

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Dennis Mannhart
2017-05-09 12:06:26 +02:00
parent 14f860090a
commit 1ee160a5ff
2 changed files with 2 additions and 3 deletions
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2
src/modules/navigator/mission_block.cpp
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@@ -691,11 +691,11 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
/* use current position */ /* use current position */
item->lat = _navigator->get_global_position()->lat; item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon; item->lon = _navigator->get_global_position()->lon;
item->yaw = _navigator->get_global_position()->yaw;
item->altitude = abs_altitude; item->altitude = abs_altitude;
item->altitude_is_relative = false; item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_loiter_radius();
item->pitch_min = min_pitch; item->pitch_min = min_pitch;
item->autocontinue = false; item->autocontinue = false;

3
src/modules/navigator/takeoff.cpp
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@@ -141,9 +141,8 @@ Takeoff::set_takeoff_position()
// convert mission item to current setpoint // convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.yaw = _navigator->get_home_position()->yaw; pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.yaw_valid = true; pos_sp_triplet->current.yaw_valid = true;
pos_sp_triplet->next.valid = false; pos_sp_triplet->next.valid = false;