fw l1 controller: added a flag to indicate if navigation has updated

- can be used to check if l1 controller ran during a cycle

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/lib/l1/ECL_L1_Pos_Controller.cpp

@@ -76,6 +76,8 @@ void
 ECL_L1_Pos_Controller::navigate_waypoints(const Vector2d &vector_A, const Vector2d &vector_B,
 		const Vector2d &vector_curr_position, const Vector2f &ground_speed_vector)
 {
+	_has_guidance_updated = true;
+
 	/* this follows the logic presented in [1] */
 	float eta = 0.0f;
 
@@ -211,6 +213,8 @@ void
 ECL_L1_Pos_Controller::navigate_loiter(const Vector2d &vector_A, const Vector2d &vector_curr_position, float radius,
 				       int8_t loiter_direction, const Vector2f &ground_speed_vector)
 {
+	_has_guidance_updated = true;
+
 	/* the complete guidance logic in this section was proposed by [2] */
 
 	/* calculate the gains for the PD loop (circle tracking) */
@@ -312,6 +316,8 @@ ECL_L1_Pos_Controller::navigate_loiter(const Vector2d &vector_A, const Vector2d
 void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float current_heading,
 		const Vector2f &ground_speed_vector)
 {
+	_has_guidance_updated = true;
+
 	/* the complete guidance logic in this section was proposed by [2] */
 
 	/*
@@ -348,6 +354,8 @@ void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float cur
 
 void ECL_L1_Pos_Controller::navigate_level_flight(float current_heading)
 {
+	_has_guidance_updated = true;
+
 	/* the logic in this section is trivial, but originally proposed by [2] */
 
 	/* reset all heading / error measures resulting in zero roll */

src/lib/l1/ECL_L1_Pos_Controller.hpp

@@ -203,6 +203,10 @@ public:
 	 */
 	void set_dt(float dt) { _dt = dt;}
 
+	void reset_has_guidance_updated() { _has_guidance_updated = false; }
+
+	bool has_guidance_updated() { return _has_guidance_updated; }
+
 private:
 
 	float _lateral_accel{0.0f};		///< Lateral acceleration setpoint in m/s^2
@@ -224,6 +228,9 @@ private:
 	float _roll_slew_rate{0.0f};	///< roll angle setpoint slew rate limit in rad/s
 	float _dt{0};				///< control loop time in seconds
 
+	bool _has_guidance_updated =
+		false;	///< this flag is set to true by any of the guidance methods. This flag has to be manually reset using has_guidance_updated_reset()
+
 	/**
 	 * Convert a 2D vector from WGS84 to planar coordinates.
 	 *