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

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bug in the navigator where this flag is not correctly set.
This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 740f1f284f
commit dcdbdbd8eb
1 changed files with 3 additions and 3 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+3 -3
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@@ -110,12 +110,12 @@ bool FlightTaskAuto::_evaluateTriplets()
_sub_triplet_setpoint->get().current.lat, _sub_triplet_setpoint->get().current.lon, &target(0), &target(1)); _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); 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) { if (_type == WaypointType::follow_target && _sub_triplet_setpoint->get().current.yawspeed_valid) {
_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed; _yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
_yaw_setpoint = NAN;
} }
// Check if anything has changed. We do that by comparing the target // Check if anything has changed. We do that by comparing the target