From 5f6d03099e07e20abe9cec685fee1244d7c9a0d4 Mon Sep 17 00:00:00 2001 From: Steven Blass Date: Mon, 17 Nov 2014 19:58:18 -0500 Subject: fixed yaw/yawrate bit masking. fixed navigator overriding offboard setpoint --- src/modules/navigator/navigator_main.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'src/modules/navigator/navigator_main.cpp') diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 10a4ee88f..5e9806499 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -468,9 +468,10 @@ Navigator::task_main() _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } - /* if nothing is running, set position setpoint triplet invalid */ - if (_navigation_mode == nullptr) { - // TODO publish empty sp only once + /* if nothing is running, set position setpoint triplet invalid once */ + static bool published_once = false; + if (_navigation_mode == nullptr && !published_once) { + published_once = true; _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; -- cgit v1.2.3