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mc_pos_control: do not execute updateSetpoint twice if obstacle avoidance

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Martina
2018-07-16 15:26:17 +02:00
committed by Daniel Agar
parent 4b54050358
commit 0694abf916
1 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
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@@ -654,9 +654,11 @@ MulticopterPositionControl::task_main()
// Update states, setpoints and constraints.
_control.updateConstraints(constraints);
_control.updateState(_states);
_control.updateSetpoint(setpoint);
if (use_obstacle_avoidance()) {
if (!use_obstacle_avoidance()) {
_control.updateSetpoint(setpoint);
} else {
execute_avoidance_waypoint();
}