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Do not run transition flight task when not enable altitude control

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This commit is contained in:
xdwgood
2020-10-30 09:04:23 +08:00
committed by Lorenz Meier
parent bf330a51b2
commit 802c68a62e
3 changed files with 2 additions and 7 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
-2
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@@ -44,8 +44,6 @@ bool FlightTaskTransition::updateInitialize()
bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
_transition_altitude = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
_transition_yaw = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
return FlightTask::activate(last_setpoint);
}
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
-4
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@@ -50,8 +50,4 @@ public:
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool updateInitialize() override;
bool update() override;
private:
float _transition_altitude = 0.0f;
float _transition_yaw = 0.0f;
};