fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 05:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskAuto: always update cruise speed

Browse Source
This commit is contained in:
Dennis Mannhart
2018-02-23 10:23:49 +01:00
committed by Lorenz Meier
parent 3083de0979
commit 37bfd8e01a
1 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+8 -7
View File
@@ -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