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navigator: set yaw_valid flag in reposition triplet (#10294)

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- yaw_valid flag was always left at false which made the position controller reject the yaw setpoint of the reposition command
This commit is contained in:
Roman Bapst
2018-09-17 01:29:38 +02:00
committed by Daniel Agar
parent 740e409016
commit 8158cdfcf4
1 changed files with 2 additions and 0 deletions
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src/modules/navigator/navigator_main.cpp
+2
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@@ -323,9 +323,11 @@ Navigator::run()
// Go on and check which changes had been requested // Go on and check which changes had been requested
if (PX4_ISFINITE(cmd.param4)) { if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4; rep->current.yaw = cmd.param4;
rep->current.yaw_valid = true;
} else { } else {
rep->current.yaw = NAN; rep->current.yaw = NAN;
rep->current.yaw_valid = false;
} }
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {