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Code Issues Releases Activity

LP-605 call setWaypoint() on PathPlan resume

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This commit is contained in:
U-karat-jdl\karat 2018-11-29 12:20:53 +02:00
parent aba11f0e10
commit 6364bb8566
1 changed files with 6 additions and 2 deletions
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8
flight/modules/PathPlanner/pathplanner.c
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@ -222,7 +222,8 @@ static void pathPlannerTask()
} }
// the transition from pathplanner to another flightmode back to pathplanner // the transition from pathplanner to another flightmode back to pathplanner
// triggers a reset back to 0 index in the waypoint list // triggers a reset back either to 0 index in the waypoint list,
// or to current index in the waypoint list, depending on FlightModeChangeRestartsPathPlan setting
if (pathplanner_active == false) { if (pathplanner_active == false) {
pathplanner_active = true; pathplanner_active = true;
@ -230,8 +231,11 @@ static void pathPlannerTask()
FlightModeSettingsFlightModeChangeRestartsPathPlanGet(&restart); FlightModeSettingsFlightModeChangeRestartsPathPlanGet(&restart);
if (restart == FLIGHTMODESETTINGS_FLIGHTMODECHANGERESTARTSPATHPLAN_TRUE) { if (restart == FLIGHTMODESETTINGS_FLIGHTMODECHANGERESTARTSPATHPLAN_TRUE) {
setWaypoint(0); setWaypoint(0);
return;
} }
else {
setWaypoint(waypointActive.Index);
}
return;
} }
WaypointInstGet(waypointActive.Index, &waypoint); WaypointInstGet(waypointActive.Index, &waypoint);