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Fw Pos C: always reset pos_sp type from LOITER to POSITION if far away

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-12-22 17:47:45 +01:00
parent 920d6d84b5
commit 3369b5ee2f
1 changed files with 0 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -753,7 +753,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
// LOITER: use SETPOINT_TYPE_POSITION to get to SETPOINT_TYPE_LOITER
if ((dist >= 0.f)
&& (dist_z > 2.f * _param_fw_clmbout_diff.get())
&& (dist_xy > 2.f * math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius)))) {
// SETPOINT_TYPE_LOITER -> SETPOINT_TYPE_POSITION
position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;