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FlightTaskAutoLine: don't update yaw if waypoints are too close together

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This commit is contained in:
Dennis Mannhart
2018-08-30 09:27:48 +02:00
committed by ChristophTobler
parent 81c5025ad8
commit 3d250b3b83
1 changed files with 1 additions and 5 deletions
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src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
+1 -5
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@@ -56,12 +56,8 @@ void FlightTaskAutoLine::_generateSetpoints()
void FlightTaskAutoLine::_generateHeadingAlongTrack()
{
Vector2f prev_to_dest = Vector2f(&(_target - _prev_wp)(0));
_compute_heading_from_2D_vector(_yaw_setpoint, prev_to_dest);
if (!_compute_heading_from_2D_vector(_yaw_setpoint, prev_to_dest)) {
// heading could not be computed. best we can do is to set heading
// to current yaw
_yaw_setpoint = _yaw;
}
}
void FlightTaskAutoLine::_generateXYsetpoints()