fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskAuto: always update type

Browse Source
This commit is contained in:
Dennis Mannhart 2018-03-02 11:09:17 +01:00 committed by Lorenz Meier
parent 7f68417d19
commit b20bd076a0
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
View File

@ -90,9 +90,11 @@ bool FlightTaskAuto::_evaluateTriplets()
/* Best we can do is to just set all waypoints to current state */
_prev_prev_wp = _prev_wp = _target = _next_wp = _position;
_yaw_wp = _yaw;
_type = WaypointType::position;
return false;
}
_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
/* Always update cruise speed since that can change without waypoint changes */
_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed;
@ -141,8 +143,6 @@ bool FlightTaskAuto::_evaluateTriplets()
}
_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
_prev_prev_wp = _prev_wp; // previous -1 is set to previous
if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) {