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mc_pos_control: check parameter MPC_OBS_AVOID to enable obstacle avoidance

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Martina
2018-07-17 13:23:11 +02:00
committed by Daniel Agar
parent 0694abf916
commit da2191b721
1 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
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@@ -137,7 +137,8 @@ private:
(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
(ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE,
(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE,
(ParamFloat<px4::params::MPC_IDLE_TKO>) MPC_IDLE_TKO /**< time constant for smooth takeoff ramp */
(ParamFloat<px4::params::MPC_IDLE_TKO>) MPC_IDLE_TKO, /**< time constant for smooth takeoff ramp */
(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID /**< enable obstacle avoidance */
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
@@ -989,7 +990,8 @@ bool
MulticopterPositionControl::use_obstacle_avoidance()
{
/* check that external obstacle avoidance is sending data and that the first point is valid */
return ((hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < TRAJECTORY_STREAM_TIMEOUT_US)
return (MPC_OBS_AVOID.get()
&& (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < TRAJECTORY_STREAM_TIMEOUT_US)
&& (_traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true)
&& ((_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) ||
(_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)));