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addressed comments from review

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-19 08:27:07 +02:00
committed by Lorenz Meier
parent 4ad11484ca
commit d6b6a1d0b3
8 changed files with 17 additions and 18 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+5 -1
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@@ -193,7 +193,11 @@ bool FlightTaskAuto::_evaluateTriplets()
}
// set heading
if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) {
_yaw_setpoint = _yaw;
_yawspeed_setpoint = _ext_yaw_handler->get_weathervane_yawrate();
} else if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
_yaw_setpoint = NAN;