From 4e806d79feccb54b0eacd54880754518f51a4792 Mon Sep 17 00:00:00 2001
From: Martina Rivizzigno <martina@rivizzigno.it>
Date: Thu, 28 Feb 2019 11:28:14 +0100
Subject: [PATCH] inject avoidance setpoints into AutoMapper
---
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
index 4dcbca40c0..d6cb634d00 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -86,6 +86,9 @@ bool FlightTaskAutoMapper::update()
_generateVelocitySetpoints();
}
+ _obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+ _yawspeed_setpoint);
+
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
--
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