From 44b8b4f79f3ff422b56d42d1debab1c7af446766 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Mon, 13 May 2019 09:24:58 +0200 Subject: [PATCH] send velocity setpoint to enable proper takeoff/land --- src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp | 1 - src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp | 2 ++ src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp | 2 ++ 3 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp index c117d6b668..4b4a41cf65 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp @@ -279,7 +279,6 @@ bool FlightTaskAuto::_evaluateTriplets() _triplet_next_wp, _sub_triplet_setpoint->get().next.yaw, _sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN); - _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint); _obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt); } diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp index 5120332427..172053d485 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp @@ -86,6 +86,8 @@ bool FlightTaskAutoMapper::update() _generateVelocitySetpoints(); } + _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint); + _obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _yawspeed_setpoint); diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp index 6ed7065cbb..dc0c751390 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp @@ -91,6 +91,8 @@ bool FlightTaskAutoMapper2::update() break; } + _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint); + _obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _yawspeed_setpoint);