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FlightTaskAuto: fix global reference update

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This commit is contained in:
Dennis Mannhart
2018-03-09 11:28:35 +01:00
committed by Lorenz Meier
parent b7f729e432
commit 99de97a528
2 changed files with 4 additions and 4 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+3 -3
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@@ -68,6 +68,7 @@ bool FlightTaskAuto::activate()
bool FlightTaskAuto::updateInitialize()
{
bool ret = FlightTask::updateInitialize();
_evaluateVehicleGlobalPosition();
return (ret && _evaluateTriplets());
}
@@ -174,18 +175,17 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
}
bool FlightTaskAuto::_evaluateVehicleGlobalPosition()
void FlightTaskAuto::_evaluateVehicleGlobalPosition()
{
FlightTask::_evaluateVehicleLocalPosition();
/* Check if reference has changed and update. */
if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
PX4_INFO("inside");
map_projection_init(&_reference_position,
_sub_vehicle_local_position->get().ref_lat,
_sub_vehicle_local_position->get().ref_lon);
_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
}
return true;
}