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ManualVelocitySmoothing - Fix unlock initialization

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This commit is contained in:
bresch
2019-09-17 13:58:41 +02:00
committed by Mathieu Bresciani
parent 0153e1b126
commit 6f3868b5ba
2 changed files with 4 additions and 5 deletions
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src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
+2 -3
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@@ -111,11 +111,10 @@ void ManualVelocitySmoothingXY::checkPositionLock(Vector2f velocity_target)
// Start the trajectory at the current velocity setpoint
_trajectory[0].setCurrentVelocity(_velocity_setpoint_feedback(0));
_trajectory[1].setCurrentVelocity(_velocity_setpoint_feedback(1));
_position_setpoint_locked(0) = NAN;
_position_setpoint_locked(1) = NAN;
_state.v = _velocity_setpoint_feedback;
resetPositionLock();
}
_position_lock_active = false;
_trajectory[0].setCurrentPosition(_position_estimate(0));
_trajectory[1].setCurrentPosition(_position_estimate(1));
}
src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingZ.cpp
+2 -2
View File
@@ -110,10 +110,10 @@ void ManualVelocitySmoothingZ::checkPositionLock(float velocity_target)
if (_position_lock_active) {
// Start the trajectory at the current velocity setpoint
_trajectory.setCurrentVelocity(_velocity_setpoint_feedback);
_position_setpoint_locked = NAN;
_state.v = _velocity_setpoint_feedback;
resetPositionLock();
}
_position_lock_active = false;
_trajectory.setCurrentPosition(_position_estimate);
}
}