Fix in mission fw module (so it compiles) (#2211)

Add test for fixedwing mission fw module Better heading for simulation purposes
paparazzi · Jan 4, 2018 · 02ba178 · 02ba178
1 parent c1ab137
commit 02ba178
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Showing 3 changed files with 13 additions and 2 deletions.
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
@@ -32,6 +32,17 @@
    settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="Bixler_Mission"
+   ac_id="46"
+   airframe="airframes/examples/bixler_lisa_m_2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing_imu.xml"
+   flight_plan="flight_plans/mission_fw.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#8fe1fffff553"
+  />
   <aircraft
    name="DualBoard_AP_FBW"
    ac_id="3"

diff --git a/conf/flight_plans/mission_fw.xml b/conf/flight_plans/mission_fw.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
-<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
+<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25" qfu="180">
   <header/>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

diff --git a/sw/airborne/modules/mission/mission_fw_nav.c b/sw/airborne/modules/mission/mission_fw_nav.c
@@ -58,7 +58,7 @@ bool mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla)
   /* Update point */
   point->x = waypoints[WP_HOME].x + dx;
   point->y = waypoints[WP_HOME].y + dy;
-  point->z = lla_f->alt;
+  point->z = lla_f.alt;
 
   return true;
 }