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FixedWingPositionControl: set waypoint straight ahead for front transition

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- this fixes the case where the navigator publishes a loiter waypoint or any
waypoint which is too close to the vehicle.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-26 22:59:07 -04:00
committed by Daniel Agar
parent 0779a0502c
commit 2b276a3ad8
2 changed files with 42 additions and 18 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2
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@@ -253,6 +253,8 @@ private:
bool _vtol_tailsitter{false};
Vector2f _transition_waypoint{NAN, NAN};
// estimator reset counters
uint8_t _pos_reset_counter{0}; ///< captures the number of times the estimator has reset the horizontal position
uint8_t _alt_reset_counter{0}; ///< captures the number of times the estimator has reset the altitude state