Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 02:36:37 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Require valid position setpoint for path setpoint

Browse Source
This commit is contained in:
JaeyoungLim
2026-05-02 03:44:30 -07:00
parent 9a6c84b82d
commit 8efaecacbb
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_mode_manager/FixedWingModeManager.cpp
+2 -1
View File
@@ -386,7 +386,8 @@ FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid
&& _control_mode.flag_control_position_enabled) { && _control_mode.flag_control_position_enabled) {
if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy)) { if (PX4_ISFINITE(_pos_sp_triplet.current.lat) && PX4_ISFINITE(_pos_sp_triplet.current.lon) && PX4_ISFINITE(_pos_sp_triplet.current.vx)
&& PX4_ISFINITE(_pos_sp_triplet.current.vy)) {
// Offboard position with velocity setpoints // Offboard position with velocity setpoints
_control_mode_current = FW_POSCTRL_MODE_AUTO_PATH; _control_mode_current = FW_POSCTRL_MODE_AUTO_PATH;
return; return;