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mc_pos_control: get empty avoidance waypoint from fligth task so that code 

isn't duplicated
This commit is contained in:
Martina 2018-07-16 15:25:44 +02:00 committed by Daniel Agar
parent ede302290b
commit 4b54050358
1 changed files with 2 additions and 9 deletions
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11
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -153,14 +153,6 @@ private:
/** Timeout in us for trajectory data to get considered invalid */
static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500000;
static constexpr vehicle_trajectory_waypoint_s empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0}, {{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false}
}
};
/**
* Hysteresis that turns true once vehicle is armed for MPC_IDLE_TKO seconds.
* A real vehicle requires some time to accelerates the propellers to IDLE speed. To ensure
@ -1014,7 +1006,8 @@ MulticopterPositionControl::publish_avoidance_desired_waypoint()
}
//reset avoidance waypoint desired
_traj_wp_avoidance_desired = empty_trajectory_waypoint;
_traj_wp_avoidance_desired = _flight_tasks.getEmptyAvoidanceWaypoint();
}