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add dummy if statement to avoid messing up the pr review

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daniele
2020-04-08 21:16:31 -04:00
committed by Daniel Agar
parent 4e3f65e376
commit 6b97361c92
1 changed files with 53 additions and 51 deletions
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src/modules/navigator/navigator_main.cpp
+53 -51
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@@ -228,77 +228,79 @@ Navigator::run()
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
if (true) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
} else {
rep->current.cruising_speed = cmd.param1;
}
} else {
rep->current.cruising_speed = cmd.param1;
}
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
// Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
rep->current.yaw_valid = true;
// Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
rep->current.yaw_valid = true;
} else {
rep->current.yaw = NAN;
rep->current.yaw_valid = false;
}
} else {
rep->current.yaw = NAN;
rep->current.yaw_valid = false;
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
// Position change with optional altitude change
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
// Position change with optional altitude change
rep->current.lat = cmd.param5;
rep->current.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param7)) {
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;
}
} else if (PX4_ISFINITE(cmd.param7) && curr->current.valid
&& PX4_ISFINITE(curr->current.lat)
&& PX4_ISFINITE(curr->current.lon)) {
// Altitude without position change
rep->current.lat = curr->current.lat;
rep->current.lon = curr->current.lon;
rep->current.alt = cmd.param7;
} else {
// All three set to NaN - hold in current position
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;
}
} else if (PX4_ISFINITE(cmd.param7) && curr->current.valid
&& PX4_ISFINITE(curr->current.lat)
&& PX4_ISFINITE(curr->current.lon)) {
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
// Altitude without position change
rep->current.lat = curr->current.lat;
rep->current.lon = curr->current.lon;
rep->current.alt = cmd.param7;
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
} else {
// All three set to NaN - hold in current position
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;
rep->next.valid = false;
}
rep->previous.valid = true;
rep->previous.timestamp = hrt_absolute_time();
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
rep->next.valid = false;
// CMD_DO_REPOSITION is acknowledged by commander
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {