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| author | Steven Blass <steven.r.blass@gmail.com> | 2014-11-18 08:36:26 -0500 |
|---|---|---|
| committer | Steven Blass <steven.r.blass@gmail.com> | 2014-11-18 08:36:26 -0500 |
| commit | b8ee71220e35a00a19f9686fda43c05e519cffba (patch) | |
| tree | 8b4c9dda65e4febb0ebdd4e06f93d7e8e9d8b804 /src/modules/navigator | |
| parent | aa152c335c04a1897effb59ef955276d01a50008 (diff) | |
| parent | 4eb930f704018253a4cff3604cb9faee8468283b (diff) | |
| download | px4-firmware-b8ee71220e35a00a19f9686fda43c05e519cffba.tar.gz px4-firmware-b8ee71220e35a00a19f9686fda43c05e519cffba.tar.bz2 px4-firmware-b8ee71220e35a00a19f9686fda43c05e519cffba.zip | |
Merge branch 'offboard_fix'
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator.h | 1 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 |
2 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index d550dcc4c..9cd609955 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -205,6 +205,7 @@ private: bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ + bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5e9806499..035b0d18c 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -137,6 +137,7 @@ Navigator::Navigator() : _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), + _pos_sp_triplet_published_invalid_once(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), _param_datalinkloss_obc(this, "DLL_OBC"), @@ -469,9 +470,8 @@ Navigator::task_main() } /* if nothing is running, set position setpoint triplet invalid once */ - static bool published_once = false; - if (_navigation_mode == nullptr && !published_once) { - published_once = true; + if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) { + _pos_sp_triplet_published_invalid_once = true; _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; |