From bd85f5f9932890104533a6c9e36ac0fdf403965a Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 24 May 2018 17:59:48 +0200 Subject: [PATCH] FlightTask: set min_distance_to_ground to NAN as default and when distance sensor is used to SENS_FLOW_MINRNG --- src/lib/FlightTasks/tasks/FlightTask.cpp | 1 + src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp index c2a335785d..b45513b33d 100644 --- a/src/lib/FlightTasks/tasks/FlightTask.cpp +++ b/src/lib/FlightTasks/tasks/FlightTask.cpp @@ -117,4 +117,5 @@ void FlightTask::_setDefaultConstraints() _constraints.speed_down = MPC_Z_VEL_MAX_DN.get(); _constraints.tilt = math::radians(MPC_TILTMAX_AIR.get()); _constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP; + _constraints.min_distance_to_ground = NAN; } diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp index 43579103b8..1884d39581 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp @@ -54,6 +54,7 @@ bool FlightTaskManualAltitude::activate() _position_setpoint(2) = _position(2); _velocity_setpoint(2) = 0.0f; _setDefaultConstraints(); + _constraints.min_distance_to_ground = SENS_FLOW_MINRNG.get(); return ret; }