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simple_offboard: Ensure quaternion initialization

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Alexey Rogachevskiy
2020-08-03 15:23:54 +03:00
committed by Oleg Kalachev
parent 17c210919d
commit 8b690900b9
1 changed files with 2 additions and 1 deletions
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clover/src/simple_offboard.cpp
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@@ -606,12 +606,13 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
// destination point and/or yaw
static PoseStamped ps;
PoseStamped ps;
ps.header.frame_id = frame_id;
ps.header.stamp = stamp;
ps.pose.position.x = x;
ps.pose.position.y = y;
ps.pose.position.z = z;
ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
if (std::isnan(yaw)) {
setpoint_yaw_type = YAW_RATE;