Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
navigator: fix edge case with valid idle setpoint
This is an attempt to fix an edge case in the triplet publication which can lead to crashes on autopilots with slow SD cards. The sequence of events before this patch is: 1. Switch to POSCTL when disarmed. At this point current valid with setpoint idle is published. 2. Arm, takeoff, and fly using joystick/RC. 3. Switch to RTL (or trigger RTL using RC loss). At this point the setpoint is valid but still idle and the motors will shut off. 4. Once navigator has published the new setpoint (which can take up to 1.5 seconds on slow SD cards) we will hopefully recover. With this patch we omit this edge case, so we never publish this idle setpoint when landed. The assumption is that this idle setpoint is no longer required with the current flight task code, however, that needs to be further verified.
- Loading branch information