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simple_offboard: lower nav_from_sp_flag only on success service calls

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This commit is contained in:
Oleg Kalachev
2019-09-05 21:55:43 +03:00
parent fda030e539
commit 86938a1afe
1 changed files with 4 additions and 4 deletions
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8
clever/src/simple_offboard.cpp
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@@ -523,10 +523,6 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
// Checks
checkState();
if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
nav_from_sp_flag = false;
}
if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
if (TIMEOUT(local_position, local_position_timeout))
throw std::runtime_error("No local position, check settings");
@@ -581,6 +577,10 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
// Everything fine - switch setpoint type
setpoint_type = sp_type;
if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
nav_from_sp_flag = false;
}
if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
// starting point
if (nav_from_sp && nav_from_sp_flag) {