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Fix bug with yaw only reposition

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Fix formatting
This commit is contained in:
Don Gagne 2022-06-03 09:34:57 -07:00 committed by Daniel Agar
parent da01dd9eeb
commit 0987bb2e8e
1 changed files with 10 additions and 4 deletions
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14
src/modules/navigator/navigator_main.cpp
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@ -303,12 +303,18 @@ void Navigator::run()
rep->current.alt = get_global_position()->alt;
}
} else if (PX4_ISFINITE(cmd.param7)) {
// Received only a request to change altitude, thus we keep the setpoint
} else if (PX4_ISFINITE(cmd.param7) || PX4_ISFINITE(cmd.param4)) {
// Position is not changing, thus we keep the setpoint
rep->current.lat = PX4_ISFINITE(curr->current.lat) ? curr->current.lat : get_global_position()->lat;
rep->current.lon = PX4_ISFINITE(curr->current.lon) ? curr->current.lon : get_global_position()->lon;
rep->current.alt = cmd.param7;
only_alt_change_requested = true;
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
only_alt_change_requested = true;
} else {
rep->current.alt = get_global_position()->alt;
}
} else {
// All three set to NaN - pause vehicle