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Allow for immediate cruise speed changes at any time during a mission.

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This commit is contained in:
Simon Wilks
2016-12-28 11:53:19 +01:00
committed by Lorenz Meier
parent e0fc0a847c
commit 647fafe9bc
3 changed files with 31 additions and 3 deletions
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src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -757,7 +757,7 @@ Navigator::get_cruising_speed()
{
/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */
if (_vstatus.is_rotary_wing) {
if (_mission_cruising_speed_mc > FLT_EPSILON
if (_mission_cruising_speed_mc > 0.0f
&& _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
return _mission_cruising_speed_mc;
@@ -766,7 +766,7 @@ Navigator::get_cruising_speed()
}
} else {
if (_mission_cruising_speed_fw > FLT_EPSILON
if (_mission_cruising_speed_fw > 0.0f
&& _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
return _mission_cruising_speed_fw;