forked from Archive/PX4-Autopilot
FixedwingPositionControl: track single point when no prev point exists for waypoint following
make sure correct local position setpoint output is logged
This commit is contained in:
parent
7160da741d
commit
37015c3dbe
|
@ -1036,8 +1036,11 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
|
||||||
prev_wp(1) = pos_sp_prev.lon;
|
prev_wp(1) = pos_sp_prev.lon;
|
||||||
|
|
||||||
} else {
|
} else {
|
||||||
// No valid previous waypoint, go along the line between aircraft and current waypoint
|
// No valid previous waypoint, fly directly to current waypoint
|
||||||
prev_wp = curr_pos;
|
// NOTE: this is a bad interface - navigateWaypoints() takes two waypoints on top of each other as an
|
||||||
|
// indication it should fly directly to that waypoint. Better would be e.g. an alternative overload with
|
||||||
|
// singular setpoint input. (just an idea for future refactoring/refinement)
|
||||||
|
prev_wp = curr_wp;
|
||||||
}
|
}
|
||||||
|
|
||||||
float tecs_fw_thr_min;
|
float tecs_fw_thr_min;
|
||||||
|
|
Loading…
Reference in New Issue