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AP_OAPathPlanner: minor fix to return original origin and dest upon failure

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this has no functional effect because the consumers are not using the origin_new and destination_new unless the ret_state was OA_SUCCESS
This commit is contained in:
Randy Mackay 2019-07-24 14:38:39 +09:00
parent 709c874d8b
commit bed21b43e1
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -271,8 +271,8 @@ void AP_OAPathPlanner::avoidance_thread()
// give the main thread the avoidance result // give the main thread the avoidance result
WITH_SEMAPHORE(_rsem); WITH_SEMAPHORE(_rsem);
avoidance_result.destination = avoidance_request2.destination; avoidance_result.destination = avoidance_request2.destination;
avoidance_result.origin_new = res ? origin_new : avoidance_result.origin_new; avoidance_result.origin_new = (res == OA_SUCCESS) ? origin_new : avoidance_result.origin_new;
avoidance_result.destination_new = res ? destination_new : avoidance_result.destination; avoidance_result.destination_new = (res == OA_SUCCESS) ? destination_new : avoidance_result.destination;
avoidance_result.result_time_ms = AP_HAL::millis(); avoidance_result.result_time_ms = AP_HAL::millis();
avoidance_result.ret_state = res; avoidance_result.ret_state = res;
} }