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mc_pos_control: require current trajectory setpoint to run controller

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Daniel Agar
2022-02-09 18:24:30 -05:00
committed by Matthias Grob
parent 138772386f
commit ad6592f669
3 changed files with 94 additions and 63 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+1 -1
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@@ -114,7 +114,7 @@ bool PositionControl::update(const float dt)
_yaw_sp = PX4_ISFINITE(_yaw_sp) ? _yaw_sp : _yaw; // TODO: better way to disable yaw control
}
// There has to be a valid output accleration and thrust setpoint otherwise something went wrong
// There has to be a valid output acceleration and thrust setpoint otherwise something went wrong
valid = valid && PX4_ISFINITE(_acc_sp(0)) && PX4_ISFINITE(_acc_sp(1)) && PX4_ISFINITE(_acc_sp(2));
valid = valid && PX4_ISFINITE(_thr_sp(0)) && PX4_ISFINITE(_thr_sp(1)) && PX4_ISFINITE(_thr_sp(2));