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CollisionAvoidance: move activation logic to library

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This commit is contained in:
Matthias Grob
2018-11-05 21:44:15 +01:00
committed by Beat Küng
parent 27dc60a419
commit 7e276bc163
3 changed files with 13 additions and 11 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-10
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@@ -663,17 +663,7 @@ MulticopterPositionControl::run()
_wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw);
}
// activate/deactivate the collision avoidance based on MPC_COL_AVOID parameter
if (_ca_controller != nullptr) {
// in manual mode we just want to use weathervane if position is controlled as well
if (_ca_controller->collision_avoidance_enabled()) {
_ca_controller->activate();
} else {
_ca_controller->deactivate();
}
_ca_controller->update(_obstacle_distance);
}