Include planned home position in MissionImportData #2115
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…tion such that the mission can be properly moved to the vehicle location
JonasVautherin
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…from mission Signed-off-by: RomanBapst <[email protected]>
| * brief Demonstrates how to move a mission loaded from a .plan file such that the planned home | ||
| * position if present or the first waypoint is colocated with the vehicle position. |
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| * brief Demonstrates how to move a mission loaded from a .plan file such that the planned home | |
| * position if present or the first waypoint is colocated with the vehicle position. | |
| * Demonstrates how to move a mission loaded from a .plan file such that the planned home | |
| * position (if present) or the first waypoint is colocated with the vehicle position. |
| REQUIRE(std::isfinite(position.latitude_deg)); | ||
| REQUIRE(std::isfinite(position.longitude_deg)); |
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It's not a test but and example, right?
| offset_y = import_res.second.mission_items[0].y - | ||
| static_cast<int32_t>(1e7 * position.longitude_deg); | ||
| } | ||
| for (auto &item : import_res.second.mission_items) { |
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Probably needs tools/fix_style.sh . applied.
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@julianoes Thanks for the review, I wasn't actually done with this, just wanted to get it to compile (thanks to @JonasVautherin for helping with that). I can now wrap it up hopefully. |
Signed-off-by: RomanBapst <[email protected]>
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@RomanBapst are you still planning to finish this? I think it would have to go into v2 though which is about to be released. |
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@julianoes Yes, I would still like to bring this in. I was plagued by compiling issues which turned out to be related to my cmake version, as @JonasVautherin could not reproduce. I got that under control but then never got to push it over the finish line. |
The planned home position is useful for moving a planned mission to the current location of the vehicle. Using the first mission item (as was done until now in the PX4 integration tests) is not correct for a VTOL mission containing a VTOL takeoff item.
Note:
Ardupilot missions contain the planned home location as the first mission item AFAIK. So the information in that case is duplicated.