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VTOL main: add local variable for int(vehicle_command.param1 + 0.5)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-07 17:49:26 +02:00
parent 342e9900f8
commit 801ef2d520
1 changed files with 4 additions and 2 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+4 -2
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@@ -150,8 +150,10 @@ void VtolAttitudeControl::vehicle_cmd_poll()
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
const int transition_command_param1 = int(vehicle_command.param1 + 0.5f);
// deny transition from MC to FW in Takeoff, Land, RTL and Orbit
if (int(vehicle_command.param1 + 0.5f) == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
if (transition_command_param1 == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
(vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
@@ -160,7 +162,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
result = vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
} else {
_transition_command = int(vehicle_command.param1 + 0.5f);
_transition_command = transition_command_param1;
_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? int(vehicle_command.param2 + 0.5f) : false;
}