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mc_pos_control: temporary solution to enable and disable the execution of

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obstacle avoidance waypoints
This commit is contained in:
Martina
2018-04-09 17:11:37 +02:00
committed by Daniel Agar
parent c5d62b5524
commit 1144b66a70
1 changed files with 6 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -2
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@@ -81,6 +81,10 @@
#define SIGMA_SINGLE_OP 0.000001f
#define SIGMA_NORM 0.001f
/* temporary solution to enable and disable obstacle avoidance */
#define ENABLE_OBSTACLE_AVOIDANCE false
/**
* Multicopter position control app start / stop handling function
*
@@ -3488,8 +3492,8 @@ MulticopterPositionControl::use_obstacle_avoidance()
{
/* check that external obstacle avoidance is sending data and that the first point is valid */
return (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
TRAJECTORY_STREAM_TIMEOUT_US && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true));
return (ENABLE_OBSTACLE_AVOIDANCE && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
TRAJECTORY_STREAM_TIMEOUT_US) && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true));
}
bool