forked from Archive/PX4-Autopilot
Do not run transition flight task when not enable altitude control
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bf330a51b2
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@ -44,8 +44,6 @@ bool FlightTaskTransition::updateInitialize()
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bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
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{
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_transition_altitude = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
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_transition_yaw = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
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return FlightTask::activate(last_setpoint);
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}
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@ -50,8 +50,4 @@ public:
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bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
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bool updateInitialize() override;
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bool update() override;
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private:
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float _transition_altitude = 0.0f;
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float _transition_yaw = 0.0f;
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};
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@ -171,7 +171,8 @@ void FlightModeManager::start_flight_task()
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_flight_tasks.switchTask(FlightTaskIndex::None);
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}
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if (_vehicle_status_sub.get().in_transition_mode) {
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// Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode)
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if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) {
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should_disable_task = false;
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FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition);
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