From 1144b66a70b0d13d27842c25f72d9e89bafdc6f1 Mon Sep 17 00:00:00 2001 From: Martina Date: Mon, 9 Apr 2018 17:11:37 +0200 Subject: [PATCH] mc_pos_control: temporary solution to enable and disable the execution of obstacle avoidance waypoints --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 556d0fcec3..9a70239d3b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -81,6 +81,10 @@ #define SIGMA_SINGLE_OP 0.000001f #define SIGMA_NORM 0.001f + +/* temporary solution to enable and disable obstacle avoidance */ +#define ENABLE_OBSTACLE_AVOIDANCE false + /** * Multicopter position control app start / stop handling function * @@ -3488,8 +3492,8 @@ MulticopterPositionControl::use_obstacle_avoidance() { /* check that external obstacle avoidance is sending data and that the first point is valid */ - return (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < - TRAJECTORY_STREAM_TIMEOUT_US && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true)); + return (ENABLE_OBSTACLE_AVOIDANCE && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < + TRAJECTORY_STREAM_TIMEOUT_US) && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true)); } bool