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Allow setting Z with yaw=0

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This commit is contained in:
Oleg Kalachev
2022-10-12 23:07:25 +06:00
parent d61760a718
commit 0d45b6cb7f
1 changed files with 1 additions and 1 deletions
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2
clover/src/simple_offboard.cpp
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@@ -613,7 +613,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
if (!auto_arm && std::isfinite(z) &&
isnan(x) && isnan(y) && isnan(vx) && isnan(vy) && isnan(vz) &&
isnan(pitch) && isnan(roll) && isnan(thrust) &&
isnan(lat) && isnan(lon) && isnan(yaw)) {
isnan(lat) && isnan(lon)) {
// set only the z
if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))