fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 11:38:56 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update RoverPositionControl.cpp

Browse Source
This commit is contained in:
Per Frivik
2023-11-28 16:30:17 +01:00
committed by Matthias Grob
parent e9810e7be6
commit 9409646a89
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rover_pos_control/RoverPositionControl.cpp
+2 -2
View File
@@ -113,7 +113,7 @@ RoverPositionControl::vehicle_control_mode_poll()
void void
RoverPositionControl::manual_control_setpoint_poll() RoverPositionControl::manual_control_setpoint_poll()
{ {
if (true) { if (_control_mode.flag_control_manual_enabled) {
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) { if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
float dt = math::constrain(hrt_elapsed_time(&_manual_setpoint_last_called) * 1e-6f, 0.0002f, 0.04f); float dt = math::constrain(hrt_elapsed_time(&_manual_setpoint_last_called) * 1e-6f, 0.0002f, 0.04f);
@@ -431,7 +431,7 @@ RoverPositionControl::Run()
matrix::Vector2d current_position(_global_pos.lat, _global_pos.lon); matrix::Vector2d current_position(_global_pos.lat, _global_pos.lon);
matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz); matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz);
if (false) { if (!_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
if (control_position(current_position, ground_speed, _pos_sp_triplet)) { if (control_position(current_position, ground_speed, _pos_sp_triplet)) {