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FlightTaskAuto: reference update only if refence altitude has not bee set.

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This commit is contained in:
Dennis Mannhart
2018-04-26 13:13:17 +02:00
committed by Lorenz Meier
parent 45810ec2b4
commit 66d5f2ffd2
2 changed files with 7 additions and 4 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+6 -3
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@@ -177,10 +177,13 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
void FlightTaskAuto::_evaluateVehicleGlobalPosition()
{
FlightTask::_evaluateVehicleLocalPosition();
// check if reference has changed and update.
if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
// Only update if reference timestamp has changed AND no valid reference altitude
// is available.
// TODO: this needs to be revisited and needs a more clear implementation
if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference &&
(_sub_vehicle_local_position->get().z_global && !PX4_ISFINITE(_reference_altitude))) {
map_projection_init(&_reference_position,
_sub_vehicle_local_position->get().ref_lat,
_sub_vehicle_local_position->get().ref_lon);