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mc_pos_control: description fix

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This commit is contained in:
Dennis Mannhart
2017-10-09 10:20:29 +02:00
parent 2b7dcd3f34
commit 0d7d6e59f5
1 changed files with 7 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7 -6
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@@ -809,13 +809,14 @@ MulticopterPositionControl::poll_subscriptions()
if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
/* we need either a valid position setpoint or a valid velocity setpoint */
/* to be a valid current triplet, altitude has to be finite */
if (!PX4_ISFINITE(_pos_sp_triplet.current.alt)) {
_pos_sp_triplet.current.valid = false;
}
/* to be a valid previous triplet, lat/lon/alt has to be finite */
if (!PX4_ISFINITE(_pos_sp_triplet.previous.lat) ||
!PX4_ISFINITE(_pos_sp_triplet.previous.lon) ||
!PX4_ISFINITE(_pos_sp_triplet.previous.alt)) {
@@ -3160,10 +3161,10 @@ MulticopterPositionControl::task_main()
* - if not armed
*/
if (_control_mode.flag_armed &&
(!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled)))) {
(!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled)))) {
if (_att_sp_pub != nullptr) {
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);