send velocity setpoint to enable proper takeoff/land

PX4 · May 29, 2019 · 44b8b4f · 44b8b4f
1 parent b135503
commit 44b8b4f
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Showing 3 changed files with 4 additions and 1 deletion.
diff --git 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
@@ -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
@@ -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);
-Original file line number
+Diff line change
@@ Expand Up / @@ -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);
@@ Expand Down @@