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Navigation capabilites: Ensure regular publication of updated topic

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Lorenz Meier
2015-06-05 19:20:42 +02:00
parent b2a694f71d
commit 1fb7434128
2 changed files with 3 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -1
View File
@@ -1676,7 +1676,8 @@ FixedwingPositionControl::task_main()
float turn_distance = _l1_control.switch_distance(100.0f);
/* lazily publish navigation capabilities */
if (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON && turn_distance > 0) {
if ((hrt_elapsed_time(&_nav_capabilities.timestamp) > 1000000) || (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON
&& turn_distance > 0)) {
/* set new turn distance */
_nav_capabilities.turn_distance = turn_distance;
src/modules/navigator/navigator_main.cpp
+1 -1
View File
@@ -582,7 +582,7 @@ Navigator::get_acceptance_radius(float mission_item_radius)
{
float radius = mission_item_radius;
if (hrt_elapsed_time(&_nav_caps.timestamp) < 1000000) {
if (hrt_elapsed_time(&_nav_caps.timestamp) < 5000000) {
if (_nav_caps.turn_distance > radius) {
radius = _nav_caps.turn_distance;
}