1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-19 04:52:12 +01:00

LP-367 - Set homelocation velocity

This commit is contained in:
Alessio Morale 2016-07-24 17:04:51 +02:00
parent 05d541684e
commit 08b960549a
2 changed files with 5 additions and 2 deletions

View File

@ -143,7 +143,9 @@ void plan_setup_returnToBase()
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
float destDown;
float destVelocity;
FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
FlightModeSettingsReturnToBaseVelocityGet(&destVelocity);
destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset);
@ -156,8 +158,8 @@ void plan_setup_returnToBase()
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown;
pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f;
pathDesired.StartingVelocity = destVelocity;
pathDesired.EndingVelocity = destVelocity;
FlightModeSettingsReturnToBaseNextCommandOptions ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandGet(&ReturnToBaseNextCommand);

View File

@ -88,6 +88,7 @@
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<field name="ReturnToBaseVelocity" units="m" type="float" elements="4" defaultvalue="10"/>
<field name="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/>
<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
<field name="AutoTakeOffVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>