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Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint

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This commit is contained in:
Matthias Grob
2022-10-17 16:18:00 -04:00
committed by Daniel Agar
parent 7c237fca74
commit 75c63aee2a
13 changed files with 91 additions and 157 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -2
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@@ -320,7 +320,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
const vehicle_local_position_s &vehicle_local_position)
{
// If the task fails sned out empty NAN setpoints and the controller will emergency failsafe
trajectory_setpoint_s setpoint = FlightTask::empty_setpoint;
trajectory_setpoint_s setpoint = FlightTask::empty_trajectory_setpoint;
vehicle_constraints_s constraints = FlightTask::empty_constraints;
if (_current_task.task->updateInitialize() && _current_task.task->update()) {
@@ -392,7 +392,7 @@ FlightTaskError FlightModeManager::switchTask(FlightTaskIndex new_task_index)
}
// Save current setpoints for the next FlightTask
trajectory_setpoint_s last_setpoint = FlightTask::empty_setpoint;
trajectory_setpoint_s last_setpoint = FlightTask::empty_trajectory_setpoint;
ekf_reset_counters_s last_reset_counters{};
if (isAnyTaskActive()) {