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2021-1-capstone-design1
/
JJS_Project2
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Authored by
이충섭
2021-06-14 21:32:01 +0900
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Commit
61f3686b3a86bf0e9973981f8a96e15d4c437c68
61f3686b
1 parent
9c485c59
test : change location
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3 changed files
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1 additions
and
36 deletions
home/Firmware/src/modules/ekf2/EKF2.cpp
home/Firmware/src/modules/navigator/mission.cpp
home/Firmware/src/modules/navigator/mission.h
home/Firmware/src/modules/ekf2/EKF2.cpp
deleted
100644 → 0
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home/Firmware/src/modules/navigator/mission.cpp
View file @
61f3686
...
...
@@ -47,7 +47,7 @@
#include "mission.h"
#include "navigator.h"
#include "iostream"
#include <string.h>
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
...
...
@@ -1031,30 +1031,6 @@ Mission::set_mission_items()
generate_waypoint_from_heading
(
&
pos_sp_triplet
->
current
,
pos_sp_triplet
->
current
.
yaw
);
}
/* don't advance mission after FW to MC command */
if
(
_mission_item
.
nav_cmd
==
NAV_CMD_DO_VTOL_TRANSITION
&&
_work_item_type
==
WORK_ITEM_TYPE_DEFAULT
&&
new_work_item_type
==
WORK_ITEM_TYPE_DEFAULT
&&
_navigator
->
get_vstatus
()
->
vehicle_type
==
vehicle_status_s
::
VEHICLE_TYPE_FIXED_WING
&&
!
_navigator
->
get_land_detected
()
->
landed
&&
pos_sp_triplet
->
current
.
valid
)
{
new_work_item_type
=
WORK_ITEM_TYPE_CMD_BEFORE_MOVE
;
}
/* after FW to MC transition finish moving to the waypoint */
if
(
_work_item_type
==
WORK_ITEM_TYPE_CMD_BEFORE_MOVE
&&
new_work_item_type
==
WORK_ITEM_TYPE_DEFAULT
&&
pos_sp_triplet
->
current
.
valid
)
{
new_work_item_type
=
WORK_ITEM_TYPE_DEFAULT
;
_mission_item
.
nav_cmd
=
NAV_CMD_WAYPOINT
;
copy_position_if_valid
(
&
_mission_item
,
&
pos_sp_triplet
->
current
);
_mission_item
.
autocontinue
=
true
;
_mission_item
.
time_inside
=
0.0
f
;
}
// ignore certain commands in mission fast forward
if
((
_mission_execution_mode
==
mission_result_s
::
MISSION_EXECUTION_MODE_FAST_FORWARD
)
&&
(
_mission_item
.
nav_cmd
==
NAV_CMD_DELAY
))
{
...
...
@@ -1862,9 +1838,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
void
Mission
::
publish_navigator_mission_item
()
{
for
(
int
i
=
0
;
i
<
8
;
i
++
)
{
navigator_mission_item_s
navigator_mission_item
{};
navigator_mission_item
.
instance_count
=
_navigator
->
mission_instance_count
();
...
...
@@ -1891,11 +1864,4 @@ void Mission::publish_navigator_mission_item()
navigator_mission_item
.
timestamp
=
hrt_absolute_time
();
_navigator_mission_item_pub
.
publish
(
navigator_mission_item
);
std
::
cout
<<
navigator_mission_item
.
latitude
<<
std
::
endl
;
navigator_mission_item
.
sequence_current
++
;
std
::
cout
<<
"************************"
<<
std
::
endl
;
}
}
...
...
home/Firmware/src/modules/navigator/mission.h
View file @
61f3686
...
...
@@ -281,7 +281,6 @@ private:
WORK_ITEM_TYPE_TAKEOFF
,
/**< takeoff before moving to waypoint */
WORK_ITEM_TYPE_MOVE_TO_LAND
,
/**< move to land waypoint before descent */
WORK_ITEM_TYPE_ALIGN
,
/**< align for next waypoint */
WORK_ITEM_TYPE_CMD_BEFORE_MOVE
,
WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF
,
WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION
,
WORK_ITEM_TYPE_PRECISION_LAND
...
...
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