dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FlightTaskManualAcceleration: change reset order, check all components for NAN 

Just cleanup and completeness.
This commit is contained in:
Matthias Grob 2021-04-21 14:36:06 +02:00 committed by Daniel Agar
parent 5e75f17680
commit 9e2375ab91
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
View File

@ -47,16 +47,16 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin
{
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
if (PX4_ISFINITE(last_setpoint.vx)) {
_stick_acceleration_xy.resetPosition();
if (PX4_ISFINITE(last_setpoint.vx) && PX4_ISFINITE(last_setpoint.vy)) {
_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy));
} else {
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}
_stick_acceleration_xy.resetPosition();
if (PX4_ISFINITE(last_setpoint.acceleration[0])) {
if (PX4_ISFINITE(last_setpoint.acceleration[0]) && PX4_ISFINITE(last_setpoint.acceleration[1])) {
_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
}