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mc_pos_control: only set current_setpoint to true if triplet valid

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Dennis Mannhart
2017-06-07 16:43:36 +02:00
parent 5cbaaa633b
commit 2a943f4bd0
1 changed files with 1 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -3
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@@ -1392,9 +1392,6 @@ void MulticopterPositionControl::control_auto(float dt)
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&_curr_pos_sp.data[0], &_curr_pos_sp.data[1]);
} else {
_curr_pos_sp(0) = _pos(0);
_curr_pos_sp(1) = _pos(1);
}
//only project setpoints if they are finite, else use current position
@@ -1555,6 +1552,7 @@ void MulticopterPositionControl::control_auto(float dt)
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
/*
* if we're already near the current takeoff setpoint don't reset in case we switch back to posctl.
* this makes the takeoff finish smoothly.