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navigator: set reference for map projection only once

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Thomas Gubler
2014-04-25 15:09:11 +02:00
parent 06dd10cb01
commit 35b0c29456
1 changed files with 5 additions and 2 deletions
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src/modules/navigator/navigator_main.cpp
+5 -2
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@@ -625,7 +625,6 @@ Navigator::task_main()
parameters_update();
global_position_update();
home_position_update();
map_projection_init(_home_pos.lat, _home_pos.lon, _home_pos.timestamp);
navigation_capabilities_update();
offboard_mission_update(_vstatus.is_rotary_wing);
onboard_mission_update();
@@ -781,7 +780,6 @@ Navigator::task_main()
if (fds[2].revents & POLLIN) {
home_position_update();
// XXX check if home position really changed
map_projection_init(_home_pos.lat, _home_pos.lon, _home_pos.timestamp);
dispatch(EVENT_HOME_POSITION_CHANGED);
}
@@ -824,6 +822,11 @@ Navigator::task_main()
_global_pos_valid = _vstatus.condition_global_position_valid;
/* set reference for map _projection if global pos is valid and home position is valid and we have not done so already */
if (!map_projection_initialized() && _global_pos_valid && _home_pos.valid) {
map_projection_init(_home_pos.lat, _home_pos.lon, _home_pos.timestamp);
}
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;