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rover: handle invalid bearing setpoint

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chfriedrich98
2025-05-13 10:23:35 +02:00
committed by chfriedrich98
parent 1857920a5f
commit ce9dd237a9
4 changed files with 12 additions and 7 deletions
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src/modules/rover_ackermann/AckermannVelControl/AckermannVelControl.cpp
+1 -1
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@@ -149,7 +149,7 @@ void AckermannVelControl::generateAttitudeAndThrottleSetpoint()
rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
} else {
} else if (PX4_ISFINITE(_rover_velocity_setpoint.bearing)) {
rover_attitude_setpoint_s rover_attitude_setpoint{};
rover_attitude_setpoint.timestamp = _timestamp;
rover_attitude_setpoint.yaw_setpoint = _rover_velocity_setpoint.bearing;