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Navigator: VTOL: fix mission yawing timeout (MIS_YAW_TMT)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-08-15 15:56:23 +02:00
committed by Roman Bapst
parent ab28f1e4f7
commit b1d38ee050
2 changed files with 3 additions and 1 deletions
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3
src/modules/navigator/mission_block.cpp
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@@ -319,7 +319,7 @@ MissionBlock::is_mission_item_reached()
}
}
if (_waypoint_position_reached) {
if (_waypoint_position_reached && !_waypoint_position_reached_previously) {
// reached just now
_time_wp_reached = now;
}
@@ -408,6 +408,7 @@ MissionBlock::is_mission_item_reached()
}
// all acceptance criteria must be met in the same iteration
_waypoint_position_reached_previously = _waypoint_position_reached;
_waypoint_position_reached = false;
_waypoint_yaw_reached = false;
return false;

1
src/modules/navigator/mission_block.h
View File

@@ -129,6 +129,7 @@ protected:
bool _waypoint_position_reached{false};
bool _waypoint_yaw_reached{false};
bool _waypoint_position_reached_previously{false};
hrt_abstime _time_first_inside_orbit{0};
hrt_abstime _action_start{0};