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position control: set _skip_controller before calling _interfaceMapping()

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Without this failsafe will be overwritten
This commit is contained in:
ChristophTobler
2018-07-10 11:28:59 +02:00
committed by Lorenz Meier
parent 80867343ab
commit 7cc85885a4
1 changed files with 4 additions and 4 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+4 -4
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@@ -56,6 +56,10 @@ void PositionControl::updateState(const PositionControlStates &states)
void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &setpoint)
{
// If full manual is required (thrust already generated), don't run position/velocity
// controller and just return thrust.
_skip_controller = false;
_pos_sp = Vector3f(&setpoint.x);
_vel_sp = Vector3f(&setpoint.vx);
_acc_sp = Vector3f(&setpoint.acc_x);
@@ -64,10 +68,6 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
_yawspeed_sp = setpoint.yawspeed;
_interfaceMapping();
// If full manual is required (thrust already generated), don't run position/velocity
// controller and just return thrust.
_skip_controller = false;
if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
_skip_controller = true;
}