From 4ffe796b4d8763ff09e6ffb4bb758036b03075ea Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 6 Apr 2022 13:27:48 +0200 Subject: [PATCH] MulticopterPositionControl: clarify previous position control naming --- src/modules/mc_pos_control/MulticopterPositionControl.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index 2c25383922..8ea04a95c1 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -321,13 +321,13 @@ void MulticopterPositionControl::Run() setDt(dt); if (_vehicle_control_mode_sub.updated()) { - const bool position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled; + const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled; if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) { - if (!position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) { + if (!previous_position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) { _time_position_control_enabled = _vehicle_control_mode.timestamp; - } else if (position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) { + } else if (previous_position_control_enabled && !_vehicle_control_mode.flag_multicopter_position_control_enabled) { // clear existing setpoint when controller is no longer active _setpoint = {}; }