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Code Issues Releases Activity

OP-1858 autotakeoff pathplanner fixes

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This commit is contained in:
abeck70 2015-04-29 20:27:30 +10:00
parent b14a966088
commit d6de7803e1
1 changed files with 2 additions and 2 deletions
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4
flight/modules/PathPlanner/pathplanner.c
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@ -263,7 +263,7 @@ static void pathPlannerTask()
// check start conditions // check start conditions
// autotakeoff requires midpoint thrust if we are in a pending takeoff situation // autotakeoff requires midpoint thrust if we are in a pending takeoff situation
if (pathAction.Command == PATHACTION_MODE_AUTOTAKEOFF) { if (pathAction.Mode == PATHACTION_MODE_AUTOTAKEOFF) {
pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING; pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) { if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) {
ManualControlCommandData cmd; ManualControlCommandData cmd;
@ -331,7 +331,7 @@ void updatePathDesired()
WaypointInstGet(waypointActive.Index, &waypoint); WaypointInstGet(waypointActive.Index, &waypoint);
PathActionInstGet(waypoint.Action, &pathAction); PathActionInstGet(waypoint.Action, &pathAction);
switch (pathAction.Command) { switch (pathAction.Mode) {
case PATHACTION_MODE_AUTOTAKEOFF: case PATHACTION_MODE_AUTOTAKEOFF:
planner_setup_pathdesired_takeoff(&pathDesired); planner_setup_pathdesired_takeoff(&pathDesired);
break; break;