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simple_offboard: reset stored setpoint on auto_arm only if needed to be armed

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CopterExpress/clover_vm#13
This commit is contained in:
Oleg Kalachev
2023-04-11 00:57:43 +03:00
parent ae05710a37
commit 68903373b0
1 changed files with 2 additions and 1 deletions
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3
clover/src/simple_offboard.cpp
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@@ -800,7 +800,8 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
nav_from_sp_flag = false;
}
if (auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
bool to_auto_arm = auto_arm && (state.mode != "OFFBOARD" || !state.armed);
if (to_auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
// invalidate position setpoint
setpoint_position.header.frame_id = "";
setpoint_altitude.header.frame_id = "";