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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/land_detector/MulticopterLandDetector.cpp
+3 -3
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@@ -212,12 +212,12 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present,
// we then can assume that the vehicle hit ground
if (_flag_control_climb_rate_enabled) {
vehicle_local_position_setpoint_s trajectory_setpoint;
trajectory_setpoint_s trajectory_setpoint;
if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
// Setpoints can be NAN
_in_descend = PX4_ISFINITE(trajectory_setpoint.vz)
&& (trajectory_setpoint.vz >= crawl_speed_threshold);
_in_descend = PX4_ISFINITE(trajectory_setpoint.velocity[2])
&& (trajectory_setpoint.velocity[2] >= crawl_speed_threshold);
}
// ground contact requires commanded descent until landed