Commit d036ffe3 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾

set takeoff altitude

Initialize takeoff altitude at DEFAULT_OVERRIDE_ALTITUDE meters above ground.
parent 838729ab
...@@ -37,6 +37,7 @@ static auto prom = std::promise<std::shared_ptr<System>>{}; ...@@ -37,6 +37,7 @@ static auto prom = std::promise<std::shared_ptr<System>>{};
static std::future<std::shared_ptr<System>> fut; static std::future<std::shared_ptr<System>> fut;
static const float DEFAULT_RADIUS = 100; static const float DEFAULT_RADIUS = 100;
static const float DEFAULT_OVERRIDE_ALTITUDE = 30;
static const float EARTH_RADIUS = 6371000; static const float EARTH_RADIUS = 6371000;
static const float ADDED_DISTANCE = (2 * DEFAULT_RADIUS) / EARTH_RADIUS; static const float ADDED_DISTANCE = (2 * DEFAULT_RADIUS) / EARTH_RADIUS;
static const double COS_ADDED_DISTANCE = cos(ADDED_DISTANCE); static const double COS_ADDED_DISTANCE = cos(ADDED_DISTANCE);
...@@ -230,7 +231,7 @@ void updateLogAndProjection(void) { ...@@ -230,7 +231,7 @@ void updateLogAndProjection(void) {
(float)targeted_destination.longitude, (float)targeted_destination.longitude,
targeted_radius, targeted_radius,
0 0
); );
} }
} }
} }
...@@ -341,6 +342,7 @@ int arm(void) { ...@@ -341,6 +342,7 @@ int arm(void) {
} }
int takeOff(void) { int takeOff(void) {
action->set_takeoff_altitude(DEFAULT_OVERRIDE_ALTITUDE);
if (doAction(&Action::takeoff, "Takeoff failed")) if (doAction(&Action::takeoff, "Takeoff failed"))
return -1; return -1;
......
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