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navigator: reset triplets during onboard/offboard mission update

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This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent c84c7cdcb4
commit 5b03c5f68e
3 changed files with 24 additions and 4 deletions
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src/modules/navigator/navigator_main.cpp
+12 -4
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@@ -657,10 +657,7 @@ Navigator::task_main()
/* if nothing is running, set position setpoint triplet invalid once */
if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
_pos_sp_triplet_published_invalid_once = true;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
reset_triplets();
}
if (_pos_sp_triplet_updated) {
@@ -815,6 +812,17 @@ Navigator::reset_cruising_speed()
_mission_cruising_speed_fw = -1.0f;
}
void
Navigator::reset_triplets()
{
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
}
float
Navigator::get_cruising_throttle()
{