From 92e93639d369c0a9369d302562e0222bdf6151c6 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 25 May 2018 15:43:00 +0200 Subject: [PATCH] FlightTaskAuto: require valid position in 3D --- src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp index e895bff667..7336cf0666 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp @@ -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; }