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FlightTaskManualAcceleration: fix velocity setpoint initialization

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This commit is contained in:
Matthias Grob
2021-03-11 00:40:27 +01:00
committed by Lorenz Meier
parent 89b502b9a0
commit 8816601efb
1 changed files with 2 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+2 -2
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@@ -48,10 +48,10 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
if (PX4_ISFINITE(last_setpoint.vx)) {
_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy));
} else {
_velocity_setpoint.xy() = _velocity.xy();
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}
_stick_acceleration_xy.resetPosition();