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loiter: only accept reposition setpoint if commanded within last 0.5 sec

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guards against left over reposition commands (potentially set via geofence) from previous flights
This commit is contained in:
Thomas Stastny
2023-09-13 15:29:31 -04:00
committed by Daniel Agar
parent e5f4a6b074
commit 2d80291b43
1 changed files with 4 additions and 2 deletions
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src/modules/navigator/loiter.cpp
+4 -2
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@@ -51,7 +51,8 @@ Loiter::Loiter(Navigator *navigator) :
void
Loiter::on_activation()
{
if (_navigator->get_reposition_triplet()->current.valid) {
if (_navigator->get_reposition_triplet()->current.valid
&& hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) {
reposition();
} else {
@@ -66,7 +67,8 @@ Loiter::on_activation()
void
Loiter::on_active()
{
if (_navigator->get_reposition_triplet()->current.valid) {
if (_navigator->get_reposition_triplet()->current.valid
&& hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) {
reposition();
}
}