yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

use separate heading parameter beacause the other one gets reset in auto

Browse Source
This commit is contained in:
Andreas Antener
2015-09-12 10:42:35 +02:00
committed by Roman
parent 24179a0d93
commit b93f34c99b
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@@ -197,6 +197,7 @@ private:
bool _was_in_air; /**< indicated wether the plane was in the air in the previous interation*/
bool _takeoff_initialized;
bool _takeoff_on_runway; /**< true as long as runway takeoff is in progress */
float _runway_takeoff_hdg_hold;
hrt_abstime _takeoff_runway_start; /**< time at which we start takeoff on runway */
hrt_abstime _time_went_in_air; /**< time at which the plane went in the air */
@@ -542,7 +543,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_was_in_air(false),
_takeoff_initialized(false),
_takeoff_on_runway(false),
_takeoff_runway_start(0),
_runway_takeoff_hdg_hold(0),
_takeoff_runway_start(0),
_time_went_in_air(0),
launch_detection_state(LAUNCHDETECTION_RES_NONE),
last_manual(false),
@@ -1386,7 +1388,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_parameters.do_runway_takeoff == true) {
if (!_takeoff_initialized) {
_hdg_hold_yaw = _att.yaw;
_runway_takeoff_hdg_hold = _att.yaw;
_takeoff_runway_start = hrt_absolute_time();
_takeoff_initialized = true;
_takeoff_on_runway = true;
@@ -1441,7 +1443,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_parameters.runway_takeoff_heading == 0) {
// fix heading in the direction the airframe points
_att_sp.yaw_body = _hdg_hold_yaw;
_att_sp.yaw_body = _runway_takeoff_hdg_hold;
//PX4_WARN("using initial heading: %.4f", (double)_att_sp.yaw_body);
} else if (_parameters.runway_takeoff_heading == 1) {
// or head into the direction of the takeoff waypoint