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navigator: set acceptance radius even for IDLE position setpoint

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This commit is contained in:
Roman Bapst
2020-01-21 19:14:43 +03:00
committed by Daniel Agar
parent 04e09d772e
commit fa83f3799a
1 changed files with 5 additions and 4 deletions
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src/modules/navigator/navigator_main.cpp
+5 -4
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@@ -668,13 +668,10 @@ Navigator::run()
!((_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)
|| (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION))) {
reset_triplets();
_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
_pos_sp_triplet.current.valid = true;
_pos_sp_triplet.current.timestamp = hrt_absolute_time();
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.next.valid = false;
}
/* if nothing is running, set position setpoint triplet invalid once */
@@ -837,6 +834,10 @@ Navigator::reset_triplets()
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
_pos_sp_triplet.previous.acceptance_radius = get_default_acceptance_radius();
_pos_sp_triplet.current.acceptance_radius = get_default_acceptance_radius();
_pos_sp_triplet.next.acceptance_radius = get_default_acceptance_radius();
}
float