From a398dc09c76c2f280ab3a50d69c34d022586e3aa Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Mon, 4 Sep 2017 11:14:53 +0200
Subject: [PATCH] mc_pos_control: set curr_pos_sp(0:1) to pos(0:1) if
non-finite
---
.../mc_pos_control/mc_pos_control_main.cpp | 16 +++++++++++++---
1 file changed, 13 insertions(+), 3 deletions(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index cae36d5de7..ec80ca1479 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -737,6 +737,9 @@ MulticopterPositionControl::poll_subscriptions()
&& PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) {
_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 {
_pos_sp_triplet.current.valid = false;
}
@@ -1402,7 +1405,7 @@ void MulticopterPositionControl::control_auto(float dt)
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
if (PX4_ISFINITE(_pos_sp_triplet.current.lat) &&
@@ -1438,9 +1441,16 @@ void MulticopterPositionControl::control_auto(float dt)
/* check if triplets have been updated
* 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 (_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.length() > FLT_EPSILON) {
+ if (diff > FLT_EPSILON) {
triplet_updated = true;
}
--
GitLab