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MulticopterPositionControl: clarify previous position control naming

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This commit is contained in:
Matthias Grob 2022-04-06 13:27:48 +02:00
parent ad6592f669
commit 4ffe796b4d
1 changed files with 3 additions and 3 deletions
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6
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@ -321,13 +321,13 @@ void MulticopterPositionControl::Run()
setDt(dt);
if (_vehicle_control_mode_sub.updated()) {
const bool position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) {
if (!position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) {
if (!previous_position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) {
_time_position_control_enabled = _vehicle_control_mode.timestamp;
} else if (position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) {
} else if (previous_position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) {
// clear existing setpoint when controller is no longer active
_setpoint = {};
}