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do not overwrite with obstacle avoidance yaw setpoints if external yaw

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handling is enabled
This commit is contained in:
Martina Rivizzigno
2019-05-29 15:16:33 +02:00
committed by Matthias Grob
parent 44b8b4f79f
commit 9e8575b71b
3 changed files with 13 additions and 5 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+2 -1
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@@ -278,7 +278,8 @@ bool FlightTaskAuto::_evaluateTriplets()
_obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
_triplet_next_wp,
_sub_triplet_setpoint->get().next.yaw,
_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN);
_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN,
_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active());
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
}