From fe2e2990469462edcbc25f7ecedd88997c87777b Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 15 Dec 2020 10:31:30 +0300 Subject: [PATCH] FlightModeManager: small rebase change Signed-off-by: RomanBapst --- src/modules/flight_mode_manager/FlightModeManager.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index 9999daee46..993c23a789 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -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); }