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RTL reduce verbosity

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This commit is contained in:
Daniel Agar
2017-07-08 14:48:27 -04:00
committed by Lorenz Meier
parent fbebec5d0f
commit e0aa2e2391
2 changed files with 18 additions and 36 deletions
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43
src/modules/navigator/rtl.cpp
View File

@@ -37,25 +37,18 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <fcntl.h>
#include <float.h>
#include "rtl.h"
#include "navigator.h"
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <navigator/navigation.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/uORB.h>
#include "navigator.h"
#include "rtl.h"
#define DELAY_SIGMA 0.01f
static constexpr float DELAY_SIGMA = 0.01f;
RTL::RTL(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
@@ -68,14 +61,11 @@ RTL::RTL(Navigator *navigator, const char *name) :
{
/* load initial params */
updateParams();
/* initial reset */
on_inactive();
}
RTL::~RTL()
{
}
void
RTL::on_inactive()
{
@@ -86,8 +76,7 @@ RTL::on_inactive()
float
RTL::get_rtl_altitude()
{
return (_param_return_alt.get() < _navigator->get_land_detected()->alt_max) ? _param_return_alt.get() :
_navigator->get_land_detected()->alt_max;
return math::min(_param_return_alt.get(), _navigator->get_land_detected()->alt_max);
}
void
@@ -102,19 +91,17 @@ RTL::on_activation()
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_land_detected()->landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "Already landed, not executing RTL");
} else if (_navigator->get_global_position()->alt < (_navigator->get_home_position()->alt + get_rtl_altitude())) {
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < (_navigator->get_home_position()->alt
+ get_rtl_altitude())) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
/* otherwise go straight to return */
_rtl_state = RTL_STATE_RETURN;
/* set altitude setpoint to current altitude */
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
@@ -289,8 +276,6 @@ RTL::set_rtl_item()
case RTL_STATE_LANDED: {
set_idle_item(&_mission_item);
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, landed");
break;
}

11
src/modules/navigator/rtl.h
View File

@@ -57,14 +57,11 @@ class RTL : public MissionBlock
{
public:
RTL(Navigator *navigator, const char *name);
~RTL() = default;
~RTL();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
void on_inactive() override;
void on_activation() override;
void on_active() override;
private:
/**