mc_pos_control: refactor OA setpoints out of PositionControl calls

PX4 · Jan 16, 2019 · b018a60 · b018a60
1 parent c319ea7
commit b018a60
Showing 1 changed file with 4 additions and 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
@@ -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");