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mc_pos_control: make sure task gets started after idle delay

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This commit is contained in:
Matthias Grob
2019-01-13 19:16:47 +01:00
committed by Dennis Mannhart
parent dc5f18bdcd
commit 43fb84a63b
1 changed files with 5 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -6
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@@ -649,18 +649,17 @@ MulticopterPositionControl::run()
_wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw); _wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw);
} }
if (_control_mode.flag_armed) {
// as soon vehicle is armed check for flighttask
start_flight_task();
// arm hysteresis prevents vehicle to takeoff // arm hysteresis prevents vehicle to takeoff
// before propeller reached idle speed. // before propeller reached idle speed.
_arm_hysteresis.set_state_and_update(true); _arm_hysteresis.set_state_and_update(_control_mode.flag_armed);
if (_arm_hysteresis.get_state()) {
// as soon vehicle is armed check for flighttask
start_flight_task();
} else { } else {
// disable flighttask // disable flighttask
_flight_tasks.switchTask(FlightTaskIndex::None); _flight_tasks.switchTask(FlightTaskIndex::None);
// reset arm hysteresis
_arm_hysteresis.set_state_and_update(false);
} }
// check if any task is active // check if any task is active