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Code Issues Releases Activity

OP-1350 change destination for ReturnToBase to takeoffLocation

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This commit is contained in:
Alessio Morale 2014-05-16 12:38:18 +02:00
parent 9ec21d2ade
commit 8dcee11cb8
2 changed files with 16 additions and 7 deletions
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21
flight/modules/ManualControl/pathfollowerhandler.c
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@ -37,6 +37,7 @@
#if defined(REVOLUTION)
#include <takeofflocation.h>
// Private constants
// Private types
@ -66,16 +67,26 @@ void pathFollowerHandler(bool newinit)
FlightModeSettingsGet(&settings);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
// Simple Return To Base mode - keep altitude the same, fly to home position
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
if (takeoffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
pathDesired.Start.North = takeoffLocation.North;
pathDesired.Start.East = takeoffLocation.East;
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
} else {
// in case for some bad reason takeofflocation isn't valid, fails back to home location.
pathDesired.Start.North = 0;
pathDesired.Start.East = 0;
pathDesired.End.North = 0;
pathDesired.End.East = 0;
}
pathDesired.Start.North = 0;
pathDesired.Start.East = 0;
pathDesired.Start.Down = positionState.Down - settings.ReturnToHomeAltitudeOffset;
pathDesired.End.North = 0;
pathDesired.End.East = 0;
pathDesired.End.Down = positionState.Down - settings.ReturnToHomeAltitudeOffset;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;

2
flight/modules/ManualControl/takeofflocationhandler.c
View File

@ -40,8 +40,6 @@ typedef enum {
// Private variables
static HandlerStatus_t handlerStatus;
static const uint8_t TakeOffStatusInvalid = TAKEOFFLOCATION_STATUS_INVALID;
static const uint8_t TakeOffStatusValid = TAKEOFFLOCATION_STATUS_VALID;
// Private functions
static void SetTakeOffLocation();