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mc_pos_control: set curr_pos_sp(0:1) to pos(0:1) if non-finite

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Dennis Mannhart
2017-09-04 11:14:53 +02:00
committed by Lorenz Meier
parent 22be99da3e
commit a398dc09c7
1 changed files with 13 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+13 -3
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@@ -737,6 +737,9 @@ MulticopterPositionControl::poll_subscriptions()
&& PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) { && PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) {
_pos_sp_triplet.current.valid = true; _pos_sp_triplet.current.valid = true;
} else if (PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) {
_pos_sp_triplet.current.valid = true;
} else { } else {
_pos_sp_triplet.current.valid = false; _pos_sp_triplet.current.valid = false;
} }
@@ -1402,7 +1405,7 @@ void MulticopterPositionControl::control_auto(float dt)
if (_pos_sp_triplet.current.valid) { if (_pos_sp_triplet.current.valid) {
math::Vector<3> curr_pos_sp; math::Vector<3> curr_pos_sp = _curr_pos_sp;
//only project setpoints if they are finite, else use current position //only project setpoints if they are finite, else use current position
if (PX4_ISFINITE(_pos_sp_triplet.current.lat) && if (PX4_ISFINITE(_pos_sp_triplet.current.lat) &&
@@ -1438,9 +1441,16 @@ void MulticopterPositionControl::control_auto(float dt)
/* check if triplets have been updated /* check if triplets have been updated
* note: we only can look at xy since navigator applies slewrate to z */ * note: we only can look at xy since navigator applies slewrate to z */
matrix::Vector2f diff((_curr_pos_sp(0) - curr_pos_sp(0)), (_curr_pos_sp(1) - curr_pos_sp(1))); float diff;
if (diff.length() > FLT_EPSILON) { if (_triplet_lat_lon_finite) {
diff = matrix::Vector2f((_curr_pos_sp(0) - curr_pos_sp(0)), (_curr_pos_sp(1) - curr_pos_sp(1))).length();
} else {
diff = fabsf(_curr_pos_sp(2) - curr_pos_sp(2));
}
if (diff > FLT_EPSILON) {
triplet_updated = true; triplet_updated = true;
} }