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FlightTaskOrbit: Avoid sending NAN altitude in status telemetry while it's changed by stick

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Matthias Grob 2024-08-08 13:51:00 +02:00 committed by Daniel Agar
parent a737036633
commit 0381e14822
1 changed files with 3 additions and 1 deletions
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4
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
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@ -140,9 +140,11 @@ bool FlightTaskOrbit::sendTelemetry()
orbit_status.yaw_behaviour = _yaw_behaviour;
if (_geo_projection.isInitialized()) {
// While chainging altitude by stick _position_setpoint(2) is not set (NAN)
float local_altitude = PX4_ISFINITE(_position_setpoint(2)) ? _position_setpoint(2) : _position(2);
// local -> global
_geo_projection.reproject(_center(0), _center(1), orbit_status.x, orbit_status.y);
orbit_status.z = _global_local_alt0 - _position_setpoint(2);
orbit_status.z = _global_local_alt0 - local_altitude;
} else {
return false; // don't send the message if the transformation failed