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Reposition landing gear check so that it is not overwritten by setpoint operations.

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This commit is contained in:
Mike Wiatt
2019-11-07 15:57:29 +01:00
committed by Matthias Grob
parent 7fe257c0c0
commit 3595941554
2 changed files with 12 additions and 12 deletions
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src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+6 -6
View File
@@ -69,6 +69,12 @@ bool FlightTaskAutoMapper::update()
if (_type_previous == WaypointType::idle) {
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = _mission_gear;
}
if (_type == WaypointType::idle) {
_generateIdleSetpoints();
@@ -92,12 +98,6 @@ bool FlightTaskAutoMapper::update()
_yawspeed_setpoint);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = _mission_gear;
}
// update previous type
_type_previous = _type;
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
+6 -6
View File
@@ -61,6 +61,12 @@ bool FlightTaskAutoMapper2::update()
if (_type_previous == WaypointType::idle) {
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
switch (_type) {
case WaypointType::idle:
@@ -100,12 +106,6 @@ bool FlightTaskAutoMapper2::update()
_generateSetpoints();
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
// update previous type
_type_previous = _type;