fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 00:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

do not update desired setpoints and waypoints if the oa is disabled

Browse Source
This commit is contained in:
Martina Rivizzigno
2019-05-29 15:16:33 +02:00
committed by Matthias Grob
parent 0963dc9af1
commit 1e8582974c
4 changed files with 12 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+2 -2
View File
@@ -89,8 +89,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel
float &yaw_speed_sp)
{
if (!COM_OBS_AVOID.get() || _sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
// if avoidance disabled or in failsafe nav_state LOITER, don't inject setpoints from avoidance system
if (_sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
// if in failsafe nav_state LOITER, don't inject setpoints from avoidance system
return;
}
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
-1
View File
@@ -109,7 +109,6 @@ private:
uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID, /**< obstacle avoidance enabled */
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD /**< Acceptance radius for multicopter altitude */
);