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FlightModeManager: small rebase change

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-12-15 10:31:30 +03:00 committed by Daniel Agar
parent e92795b474
commit fe2e299046
1 changed files with 3 additions and 2 deletions
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5
src/modules/flight_mode_manager/FlightModeManager.cpp
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@ -438,8 +438,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
constraints = _flight_tasks.getConstraints();
}
landing_gear_s landing_gear = _flight_tasks.getGear();
// limit altitude according to land detector
limitAltitude(setpoint, vehicle_local_position);
@ -494,8 +492,11 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
}
// if there's any change in landing gear setpoint publish it
landing_gear_s landing_gear = _flight_tasks.getGear();
if (landing_gear.landing_gear != _old_landing_gear_position
&& landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
landing_gear.timestamp = _time_stamp_last_loop;
_landing_gear_pub.publish(landing_gear);
}