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Plane: quadplane: double log QPOS state change

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Iampete1 2022-02-19 22:21:52 +00:00 committed by Andrew Tridgell
parent 560e24385a
commit 80f8f8b14e
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/quadplane.cpp
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@ -2139,6 +2139,7 @@ void QuadPlane::log_QPOS(void)
*/
void QuadPlane::PosControlState::set_state(enum position_control_state s)
{
const uint32_t now = AP_HAL::millis();
if (state != s) {
auto &qp = plane.quadplane;
pilot_correction_done = false;
@ -2163,14 +2164,17 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
// reset throttle descent control
qp.thr_ctrl_land = false;
}
// double log to capture the state change
qp.log_QPOS();
state = s;
qp.log_QPOS();
last_log_ms = now;
}
state = s;
last_state_change_ms = AP_HAL::millis();
last_state_change_ms = now;
// we consider setting the state to be equivalent to running to
// prevent code from overriding the state as stale
last_run_ms = last_state_change_ms;
last_run_ms = now;
}
/*