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mav_cmd_do_reposition now obeys the ground speed argument

This commit is contained in:
Jake Dahl 2018-12-07 14:18:05 -07:00 committed by Daniel Agar
parent dc49e259b3
commit 21bcc0d2f4
1 changed files with 9 additions and 1 deletions
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10
src/modules/navigator/navigator_main.cpp
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@ -328,7 +328,15 @@ Navigator::run()
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1; rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.cruising_speed = get_cruising_speed();
// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
} else {
rep->current.cruising_speed = cmd.param1;
}
rep->current.cruising_throttle = get_cruising_throttle(); rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius(); rep->current.acceptance_radius = get_acceptance_radius();