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Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent 8c24ba9255
commit a9bab81eb8
3 changed files with 11 additions and 6 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+7 -3
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@@ -52,15 +52,19 @@ ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
}
void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp) {
void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
float &yaw_speed_sp)
{
if (!COM_OBS_AVOID.get()) {
return;
}
_sub_vehicle_trajectory_waypoint.update();
const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
const bool avoidance_point_valid = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) >
TRAJECTORY_STREAM_TIMEOUT_US;
const bool avoidance_point_valid =
_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
if (!avoidance_data_timeout && avoidance_point_valid) {
pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;