fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskAuto: need to remove check for yaw valid since there is a

Browse Source 
bug in the navigator where this flag is not correctly set.
This commit is contained in:
Dennis Mannhart 2018-04-27 17:38:57 +02:00 committed by Lorenz Meier
parent 740f1f284f
commit dcdbdbd8eb
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
View File

@ -110,12 +110,12 @@ bool FlightTaskAuto::_evaluateTriplets()
_sub_triplet_setpoint->get().current.lat, _sub_triplet_setpoint->get().current.lon, &target(0), &target(1));
target(2) = -(_sub_triplet_setpoint->get().current.alt - _reference_altitude);
if (_sub_triplet_setpoint->get().current.yaw_valid) {
_yaw_setpoint = _sub_triplet_setpoint->get().current.yaw;
}
_yaw_setpoint = _sub_triplet_setpoint->get().current.yaw;
if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
_yaw_setpoint = NAN;
}
// Check if anything has changed. We do that by comparing the target