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Update src/modules/fw_mode_manager/FixedWingModeManager.cpp

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
Ryan Johnston
2026-05-02 08:38:18 -05:00
committed by GitHub
parent 8efaecacbb
commit 08c1834ca9
1 changed files with 3 additions and 2 deletions
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src/modules/fw_mode_manager/FixedWingModeManager.cpp
+3 -2
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@@ -2105,9 +2105,10 @@ FixedWingModeManager::Run()
} }
if (PX4_ISFINITE(trajectory_setpoint.velocity[0]) && PX4_ISFINITE(trajectory_setpoint.velocity[1])) { if (PX4_ISFINITE(trajectory_setpoint.velocity[0]) && PX4_ISFINITE(trajectory_setpoint.velocity[1])
&& PX4_ISFINITE(_pos_sp_triplet.current.lat) && PX4_ISFINITE(_pos_sp_triplet.current.lon)) {
// Only accept horizontal velocity setpoints if a valid horizontal position has been set.
valid_setpoint = true; valid_setpoint = true;
_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_pos_sp_triplet.current.vx = trajectory_setpoint.velocity[0]; _pos_sp_triplet.current.vx = trajectory_setpoint.velocity[0];
_pos_sp_triplet.current.vy = trajectory_setpoint.velocity[1]; _pos_sp_triplet.current.vy = trajectory_setpoint.velocity[1];