From 4e806d79feccb54b0eacd54880754518f51a4792 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Thu, 28 Feb 2019 11:28:14 +0100 Subject: [PATCH] inject avoidance setpoints into AutoMapper --- src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp index 4dcbca40c0..d6cb634d00 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp @@ -86,6 +86,9 @@ bool FlightTaskAutoMapper::update() _generateVelocitySetpoints(); } + _obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, + _yawspeed_setpoint); + // during mission and reposition, raise the landing gears but only // if altitude is high enough if (_highEnoughForLandingGear()) {