From dcdbdbd8eb9d82c98cddcd27f3654d7b191c6f85 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 27 Apr 2018 17:38:57 +0200 Subject: [PATCH] FlightTaskAuto: need to remove check for yaw valid since there is a bug in the navigator where this flag is not correctly set. --- src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp index 992881268e..ac48d4fcfe 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp @@ -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