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Do not run transition flight task when not enable altitude control

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This commit is contained in:
xdwgood
2020-10-30 09:04:23 +08:00
committed by Lorenz Meier
parent bf330a51b2
commit 802c68a62e
3 changed files with 2 additions and 7 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
-2
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@@ -44,8 +44,6 @@ bool FlightTaskTransition::updateInitialize()
bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint) bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{ {
_transition_altitude = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
_transition_yaw = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
return FlightTask::activate(last_setpoint); return FlightTask::activate(last_setpoint);
} }
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
-4
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@@ -50,8 +50,4 @@ public:
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override; bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool updateInitialize() override; bool updateInitialize() override;
bool update() override; bool update() override;
private:
float _transition_altitude = 0.0f;
float _transition_yaw = 0.0f;
}; };
src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -1
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@@ -171,7 +171,8 @@ void FlightModeManager::start_flight_task()
_flight_tasks.switchTask(FlightTaskIndex::None); _flight_tasks.switchTask(FlightTaskIndex::None);
} }
if (_vehicle_status_sub.get().in_transition_mode) { // Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode)
if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) {
should_disable_task = false; should_disable_task = false;
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition); FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition);