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send velocity setpoint to enable proper takeoff/land

This commit is contained in:
Martina Rivizzigno 2019-05-13 09:24:58 +02:00 committed by Matthias Grob
parent b135503447
commit 44b8b4f79f
3 changed files with 4 additions and 1 deletions
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1
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
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@ -279,7 +279,6 @@ bool FlightTaskAuto::_evaluateTriplets()
_triplet_next_wp, _triplet_next_wp,
_sub_triplet_setpoint->get().next.yaw, _sub_triplet_setpoint->get().next.yaw,
_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN); _sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN);
_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt); _obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
} }

2
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@ -86,6 +86,8 @@ bool FlightTaskAutoMapper::update()
_generateVelocitySetpoints(); _generateVelocitySetpoints();
} }
_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_yawspeed_setpoint); _yawspeed_setpoint);

2
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
View File

@ -91,6 +91,8 @@ bool FlightTaskAutoMapper2::update()
break; break;
} }
_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_yawspeed_setpoint); _yawspeed_setpoint);