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PositionControl: handle yaw NAN inputs

This commit is contained in:
Matthias Grob 2019-12-15 20:41:11 +01:00 committed by Kabir Mohammed
parent dcc0339773
commit e06fff94bb
1 changed files with 3 additions and 0 deletions
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3
src/modules/mc_pos_control/PositionControl/PositionControl.cpp
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@ -133,6 +133,9 @@ void PositionControl::update(const float dt)
_positionControl(); _positionControl();
_velocityControl(dt); _velocityControl(dt);
_yawspeed_sp = PX4_ISFINITE(_yawspeed_sp) ? _yawspeed_sp : 0.f;
_yaw_sp = PX4_ISFINITE(_yaw_sp) ? _yaw_sp : _yaw; // TODO: better way to disable yaw control
} }
bool PositionControl::_interfaceMapping() bool PositionControl::_interfaceMapping()