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This commit is contained in:
Dennis Mannhart
2018-04-30 11:01:37 +02:00
committed by Lorenz Meier
parent afbeafebd8
commit cfa412b55f
2 changed files with 2 additions and 1 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+1 -1
View File
@@ -115,7 +115,7 @@ void FlightTaskManualPosition::_updateXYlock()
// Position is locked but check if a reset event has happened.
// We will shift the setpoints.
if (_sub_vehicle_local_position->get().xy_reset_counter
!= _reset_counter) {
!= _reset_counter) {
_position_setpoint(0) = _position(0);
_position_setpoint(1) = _position(1);
_reset_counter = _sub_vehicle_local_position->get().xy_reset_counter;
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+1
View File
@@ -83,6 +83,7 @@ void FlightTaskManualStabilized::_updateHeadingSetpoints()
// hold the current heading when no more rotation commanded
if (!PX4_ISFINITE(_yaw_setpoint)) {
_yaw_setpoint = _yaw;
} else {
// check reset counter and update yaw setpoint if necessary
if (_sub_attitude->get().quat_reset_counter != _heading_reset_counter) {