From b018a6088dd061454533d5a52e75306451098e0f Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sun, 13 Jan 2019 13:32:31 +0100
Subject: [PATCH] mc_pos_control: refactor OA setpoints out of PositionControl
calls
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 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 ecd402bd9a..25e861d25b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -750,15 +750,15 @@ MulticopterPositionControl::run()
limit_altitude(setpoint);
}
- // Update states, setpoints and constraints.
- _control.updateConstraints(constraints);
- _control.updateState(_states);
-
// adjust setpoints based on avoidance
if (use_obstacle_avoidance()) {
execute_avoidance_waypoint(setpoint);
}
+ // Update states, setpoints and constraints.
+ _control.updateConstraints(constraints);
+ _control.updateState(_states);
+
// update position controller setpoints
if (!_control.updateSetpoint(setpoint)) {
warn_rate_limited("Position-Control Setpoint-Update failed");
--
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