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FlightTaskOrbit: NACK command if coordinates could not get applied

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This commit is contained in:
Matthias Grob
2021-03-17 09:50:11 -04:00
committed by Daniel Agar
parent bffa83bd47
commit ef774578e1
1 changed files with 13 additions and 5 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+13 -5
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@@ -77,16 +77,24 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
_initial_heading = _yaw;
// commanded center coordinates
if (map_projection_initialized(&_global_local_proj_ref)) {
if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {
if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {
if (map_projection_initialized(&_global_local_proj_ref)) {
map_projection_project(&_global_local_proj_ref,
command.param5, command.param6,
&_center(0), &_center(1));
}
// commanded altitude
if (PX4_ISFINITE(command.param7)) {
} else {
ret = false;
}
}
// commanded altitude
if (PX4_ISFINITE(command.param7)) {
if (map_projection_initialized(&_global_local_proj_ref)) {
_position_setpoint(2) = _global_local_alt0 - command.param7;
} else {
ret = false;
}
}