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mc_pos_control: trigger failsafe if no pos, vel or thrust pair is valid

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ChristophTobler
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 260284571d
commit 80867343ab
1 changed files with 7 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7
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@@ -554,6 +554,13 @@ MulticopterPositionControl::task_main()
} else {
setpoint = _flight_tasks.getPositionSetpoint();
// Check if position, velocity or thrust pairs are valid -> trigger failsaife if no pair is valid
if (!(PX4_ISFINITE(setpoint.x) && PX4_ISFINITE(setpoint.y)) &&
!(PX4_ISFINITE(setpoint.vx) && PX4_ISFINITE(setpoint.vy)) &&
!(PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]))) {
failsafe(setpoint, _states);
}
}
vehicle_constraints_s constraints = _flight_tasks.getConstraints();