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mc_pos_control: enable obstacle avoidance only in mission and rtl

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Martina 2018-06-12 13:35:43 +02:00 committed by Daniel Agar
parent f42095af8f
commit 492e40a139
1 changed files with 5 additions and 3 deletions
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8
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -3495,9 +3495,11 @@ MulticopterPositionControl::use_obstacle_avoidance()
{
/* check that external obstacle avoidance is sending data and that the first point is valid */
return (_test_obstacle_avoidance.get() && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
TRAJECTORY_STREAM_TIMEOUT_US)
&& (_traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true));
return (_test_obstacle_avoidance.get()
&& (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < TRAJECTORY_STREAM_TIMEOUT_US)
&& (_traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true)
&& ((_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) ||
(_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)));
}
bool