From 38de07186d50ed4b9b43a9ba624fb0c4004cf8e8 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 21 Jan 2022 16:00:23 +0100 Subject: [PATCH] FlightTaskOrbit: include acceleration and jerk in approach setpoint publishing 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 --- src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index 2360f33130..bdc2c040e9 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -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()