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

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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
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+2 -2
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@@ -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;
}