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Navigator: Do not interpret DO_SET_SPEED as 3D location, reset speed on negative value.

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This commit is contained in:
Lorenz Meier
2016-02-17 16:51:13 +01:00
parent c97dca0cdb
commit 2a2dca84bf
5 changed files with 10 additions and 6 deletions
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5
src/modules/navigator/mission_block.cpp
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@@ -125,6 +125,8 @@ MissionBlock::is_mission_item_reached()
// XXX not differentiating ground and airspeed yet
if (_mission_item.params[1] > 0.0f) {
_navigator->set_cruising_speed(_mission_item.params[1]);
} else {
_navigator->set_cruising_speed();
}
return true;
@@ -319,7 +321,8 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
if (item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED) {
return false;
}