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FlightTaskAuto: always update type

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 7f68417d19
commit b20bd076a0
1 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+2 -2
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@@ -90,9 +90,11 @@ bool FlightTaskAuto::_evaluateTriplets()
/* Best we can do is to just set all waypoints to current state */ /* Best we can do is to just set all waypoints to current state */
_prev_prev_wp = _prev_wp = _target = _next_wp = _position; _prev_prev_wp = _prev_wp = _target = _next_wp = _position;
_yaw_wp = _yaw; _yaw_wp = _yaw;
_type = WaypointType::position;
return false; return false;
} }
_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
/* Always update cruise speed since that can change without waypoint changes */ /* Always update cruise speed since that can change without waypoint changes */
_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed; _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 _prev_prev_wp = _prev_wp; // previous -1 is set to previous
if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) { if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) {