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FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing

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I think they were forgotten and it leads to side effects:
- The acceleration feed-forward does not get executed
- The acceleration setpoint is NAN when initializing the altitude
  smoothing when arriving at the circle
This commit is contained in:
Matthias Grob
2022-01-25 11:45:31 +01:00
parent b9fb8490ba
commit 38de07186d
1 changed files with 2 additions and 0 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+2
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@@ -293,6 +293,8 @@ void FlightTaskOrbit::_generate_circle_approach_setpoints()
_position_setpoint = out_setpoints.position;
_velocity_setpoint = out_setpoints.velocity;
_acceleration_setpoint = out_setpoints.acceleration;
_jerk_setpoint = out_setpoints.jerk;
}
void FlightTaskOrbit::_generate_circle_setpoints()