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FlightTaskAuto: replace target with destination for checks

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 92e93639d3
commit 33d0a4e8ed
1 changed files with 4 additions and 4 deletions
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src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+4 -4
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@@ -101,8 +101,8 @@ void FlightTaskAutoLine::_reset()
_velocity_setpoint = _velocity; _velocity_setpoint = _velocity;
_position_setpoint = _position; _position_setpoint = _position;
_yaw_setpoint = _yaw; _yaw_setpoint = _yaw;
_destination = _target; _destination = _position;
_origin = _prev_wp; _origin = _position;
_speed_at_target = 0.0f; _speed_at_target = 0.0f;
} }
@@ -277,7 +277,7 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
void FlightTaskAutoLine::_generateXYsetpoints() void FlightTaskAutoLine::_generateXYsetpoints()
{ {
Vector2f pos_sp_to_dest = Vector2f(&(_target - _position_setpoint)(0)); Vector2f pos_sp_to_dest = Vector2f(&(_destination - _position_setpoint)(0));
const bool has_reached_altitude = fabsf(_destination(2) - _position(2)) < NAV_ACC_RAD.get(); const bool has_reached_altitude = fabsf(_destination(2) - _position(2)) < NAV_ACC_RAD.get();
if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < NAV_ACC_RAD.get()) || if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < NAV_ACC_RAD.get()) ||
@@ -455,7 +455,7 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
// vehicle reached desired target altitude // vehicle reached desired target altitude
_velocity_setpoint(2) = 0.0f; _velocity_setpoint(2) = 0.0f;
_position_setpoint(2) = _target(2); _position_setpoint(2) = _destination(2);
} }
} }