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FlightTaskAuto: apply cruise speed from position triplet also when negative (#20006) 

Navigator sets the cruise_speed to -1 if the controller shouldn't listen to
it and instead use the default speed (for MC: MPC_XY_CRUISE). This is for
example for RTL the case, where we want to return at the default speed,
independetly of what the mission speed before was.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-08-04 13:36:15 +02:00 committed by GitHub
parent 2498cbbb74
commit 55f395a7e9
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 2 deletions
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3
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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@ -342,12 +342,11 @@ bool FlightTaskAuto::_evaluateTriplets()
const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
if (PX4_ISFINITE(cruise_speed_from_triplet)
&& (cruise_speed_from_triplet > 0.f)
&& (_sub_triplet_setpoint.get().current.timestamp > _time_last_cruise_speed_override)) {
_mc_cruise_speed = cruise_speed_from_triplet;
}
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < FLT_EPSILON)) {
// If no speed is planned use the default cruise speed as limit
_mc_cruise_speed = _param_mpc_xy_cruise.get();
}