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ObstacleAvoidance: do not check for loiter nav state twice

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Martina Rivizzigno
2019-04-01 10:21:33 +02:00
committed by bresch
parent 0dab5d3a11
commit 6f5c97f184
1 changed files with 1 additions and 2 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+1 -2
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@@ -97,9 +97,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel
> TRAJECTORY_STREAM_TIMEOUT_US;
const bool avoidance_point_valid =
_sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
const bool is_loitering = _sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
if ((avoidance_data_timeout || !avoidance_point_valid) && !is_loitering) {
if (avoidance_data_timeout || !avoidance_point_valid) {
PX4_WARN("Obstacle Avoidance system failed, loitering");
_publishVehicleCmdDoLoiter();
return;