Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

MulticopterPositionControl: clarify previous position control naming

Browse Source
This commit is contained in:
Matthias Grob
2022-04-06 13:27:48 +02:00
parent ad6592f669
commit 4ffe796b4d
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/MulticopterPositionControl.cpp
+3 -3
View File
@@ -321,13 +321,13 @@ void MulticopterPositionControl::Run()
setDt(dt); setDt(dt);
if (_vehicle_control_mode_sub.updated()) { if (_vehicle_control_mode_sub.updated()) {
const bool position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled; const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) { if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) {
if (!position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) { if (!previous_position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) {
_time_position_control_enabled = _vehicle_control_mode.timestamp; _time_position_control_enabled = _vehicle_control_mode.timestamp;
} else if (position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) { } else if (previous_position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) {
// clear existing setpoint when controller is no longer active // clear existing setpoint when controller is no longer active
_setpoint = {}; _setpoint = {};
} }