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minimum follow target alt of 8 m added, protecting against nan values in pos controller, fixing ci build error

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Jimmy Johnson
2016-05-16 15:11:57 -07:00
parent 42e04d4c11
commit 38b4278998
4 changed files with 12 additions and 9 deletions
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src/modules/navigator/follow_target.cpp
+1 -4
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@@ -45,7 +45,6 @@
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <float.h>
#include <systemlib/err.h>
@@ -78,8 +77,6 @@ FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
_target_vel.zero();
_target_distance.zero();
_target_position_offset.zero();
_rot_matrix = (_follow_position_matricies[_follow_target_position]);
}
FollowTarget::~FollowTarget()
@@ -97,7 +94,7 @@ void FollowTarget::on_activation()
_follow_offset = _param_tracking_dist.get() < 1.0F ? 1.0F : _param_tracking_dist.get();
_follow_target_position = (FollowTargetPosition) _param_tracking_side.get();
_follow_target_position = _param_tracking_side.get();
if((_follow_target_position > FOLLOW_FROM_LEFT) || (_follow_target_position < FOLLOW_FROM_RIGHT)) {
_follow_target_position = FOLLOW_FROM_BEHIND;