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inject avoidance setpoints into AutoMapper

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Martina Rivizzigno 2019-02-28 11:28:14 +01:00 committed by bresch
parent 320ed40806
commit 4e806d79fe
1 changed files with 3 additions and 0 deletions
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3
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@ -86,6 +86,9 @@ bool FlightTaskAutoMapper::update()
_generateVelocitySetpoints();
}
_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_yawspeed_setpoint);
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {