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Reposition landing gear check so that it is not overwritten by setpoint operations. (#13412)

This commit is contained in:
Matthias Grob 2019-11-07 20:35:05 +01:00 committed by Daniel Agar
parent 37cc877c80
commit 748b664ad0
2 changed files with 12 additions and 12 deletions
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12
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
View File

@ -70,6 +70,12 @@ bool FlightTaskAutoMapper::update()
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = _mission_gear;
}
if (_type == WaypointType::idle) {
_generateIdleSetpoints();
@ -92,12 +98,6 @@ bool FlightTaskAutoMapper::update()
_yawspeed_setpoint);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = _mission_gear;
}
// update previous type
_type_previous = _type;

12
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
View File

@ -62,6 +62,12 @@ bool FlightTaskAutoMapper2::update()
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
switch (_type) {
case WaypointType::idle:
_prepareIdleSetpoints();
@ -100,12 +106,6 @@ bool FlightTaskAutoMapper2::update()
_generateSetpoints();
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
// update previous type
_type_previous = _type;