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Allow speed be nan

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This commit is contained in:
Oleg Kalachev
2022-12-19 18:36:40 +03:00
parent 26d65407fe
commit 288667a08d
1 changed files with 6 additions and 1 deletions
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7
clover/src/simple_offboard.cpp
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@@ -691,6 +691,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
ENSURE_NON_INF(y);
ENSURE_NON_INF(z);
ENSURE_NON_INF(yaw_rate);
ENSURE_NON_INF(speed); // TODO: allow inf
if (sp_type == NAVIGATE_GLOBAL) {
ENSURE_FINITE(lat);
@@ -784,7 +785,11 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
} else {
nav_start = local_position;
}
nav_speed = speed;
if (!isnan(speed)) {
nav_speed = speed;
}
nav_from_sp_flag = true;
}