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navigator explicitly invalidate position setpoint

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This commit is contained in:
Daniel Agar
2016-09-26 23:11:08 +02:00
committed by Lorenz Meier
parent 7b03bce416
commit 7c0a567eaa
2 changed files with 12 additions and 13 deletions
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src/modules/navigator/navigator_main.cpp
+8 -9
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@@ -530,15 +530,6 @@ Navigator::task_main()
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
@@ -601,7 +592,15 @@ Navigator::task_main()
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_follow_target;
break;
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;