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FlightTaskAutoLine: if previous type was idle, set thrust to NAN again to ensure

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thrust is not used. Also, if previous was not a loiter or position type, then reset
setpoints to current state. This is needed because during line following, the
previous setpoints are requires and cannot be NAN.
This commit is contained in:
Dennis Mannhart 2018-03-01 14:42:13 +01:00 committed by Lorenz Meier
parent 5f293cceac
commit 08a89ccdbb
1 changed files with 20 additions and 1 deletions
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21
src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
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@ -66,13 +66,29 @@ bool FlightTaskAutoLine::activate()
bool FlightTaskAutoLine::update()
{
bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
/* 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state */
if (follow_line && !follow_line_prev) {
_reset();
}
/* The only time a thrust setpoint is sent out is during
* idle. Hence, reset thrust setpoint to NAN in case the
* vehicle exits idle.
*/
if (_type_previous == WaypointType::idle) {
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
if (_type == WaypointType::idle) {
_generateIdleSetpoints();
} else if (_type == WaypointType::land) {
_generateLandSetpoints();
} else if (_type == WaypointType::loiter || _type == WaypointType::position) {
} else if (follow_line) {
_generateSetpoints();
} else if (_type == WaypointType::takeoff) {
@ -88,6 +104,9 @@ bool FlightTaskAutoLine::update()
* same as during home... */
_yaw_setpoint = _yaw_wp;
/* Update previous type */
_type_previous = _type;
return true;
}