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FlightTaskAuto: require valid position in 3D

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent c4c01358b9
commit 92e93639d3
1 changed files with 4 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+4 -2
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@@ -70,11 +70,13 @@ bool FlightTaskAuto::updateInitialize()
bool ret = FlightTask::updateInitialize();
// require valid reference and valid target
ret = ret && _evaluateGlobalReference() && _evaluateTriplets();
// require valid position / velocity in xy
// require valid position
ret = ret && PX4_ISFINITE(_position(0))
&& PX4_ISFINITE(_position(1))
&& PX4_ISFINITE(_position(2))
&& PX4_ISFINITE(_velocity(0))
&& PX4_ISFINITE(_velocity(1));
&& PX4_ISFINITE(_velocity(1))
&& PX4_ISFINITE(_velocity(2));
return ret;
}