From 37bfd8e01a69d241c88e69328cc01a841f8209af Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 23 Feb 2018 10:23:49 +0100 Subject: [PATCH] FlightTaskAuto: always update cruise speed --- src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp index 8efc5c0201..d8c1bdfd28 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp @@ -93,6 +93,14 @@ bool FlightTaskAuto::_evaluateTriplets() return false; } + /* Always update cruise speed since that can change without waypoint changes */ + _mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed; + + if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) { + /* Use default */ + _mc_cruise_speed = _mc_cruise_default.get(); + } + /* Get target waypoint. */ matrix::Vector3f target; map_projection_project(&_reference_position, @@ -133,13 +141,6 @@ bool FlightTaskAuto::_evaluateTriplets() } - _mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed; - - if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) { - /* Use default */ - _mc_cruise_speed = _mc_cruise_default.get(); - } - _type = (WaypointType)_sub_triplet_setpoint->get().current.type; _prev_prev_wp = _prev_wp; // previous -1 is set to previsou