fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-04 11:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskManual: sticks not to be finite

Browse Source 
activation method not needed
This commit is contained in:
Dennis Mannhart
2018-05-24 08:50:10 +02:00
committed by Lorenz Meier
parent 6a7a7d7ff7
commit 2af253fa9f
1 changed files with 7 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+7 -16
View File
@@ -65,21 +65,6 @@ bool FlightTaskManual::updateInitialize()
return ret;
}
bool FlightTaskManual::activate()
{
bool ret = FlightTask::activate();
if (_sticks_data_required) {
// need valid stick inputs
ret = ret && PX4_ISFINITE(_sticks(0))
&& PX4_ISFINITE(_sticks(1))
&& PX4_ISFINITE(_sticks(2))
&& PX4_ISFINITE(_sticks(3));
}
return ret;
}
bool FlightTaskManual::_evaluateSticks()
{
/* Sticks are rescaled linearly and exponentially to [-1,1] */
@@ -111,7 +96,13 @@ bool FlightTaskManual::_evaluateSticks()
_applyGearSwitch(gear_switch);
}
return true;
// valid stick inputs are required
const bool valid_sticks = PX4_ISFINITE(_sticks(0))
&& PX4_ISFINITE(_sticks(1))
&& PX4_ISFINITE(_sticks(2))
&& PX4_ISFINITE(_sticks(3));
return valid_sticks;
} else {
/* Timeout: set all sticks to zero */