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navigator: fix triplet resetting/publication logic #13588

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merged 2 commits into from
Nov 25, 2019
Merged

navigator: fix triplet resetting/publication logic #13588

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96d3698
navigator: fix triplet resetting/publication logic
julianoes Nov 20, 2019
de3e6d3
Merge branch 'release/1.10' into backport-triplet-reset
MaEtUgR Nov 25, 2019
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5 changes: 2 additions & 3 deletions src/modules/navigator/mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -191,12 +191,14 @@ Mission::on_active()
bool mission_sub_updated = _mission_sub.updated();

if (mission_sub_updated) {
_navigator->reset_triplets();
update_mission();
}

/* reset the current mission if needed */
if (need_to_reset_mission(true)) {
reset_mission(_mission);
_navigator->reset_triplets();
update_mission();
_navigator->reset_cruising_speed();
mission_sub_updated = true;
Expand Down Expand Up @@ -442,9 +444,6 @@ Mission::update_mission()

bool failed = true;

/* reset triplets */
_navigator->reset_triplets();

/* Reset vehicle_roi
* Missions that do not explicitly configure ROI would not override
* an existing ROI setting from previous missions */
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9 changes: 0 additions & 9 deletions src/modules/navigator/navigator_main.cpp
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Expand Up @@ -620,7 +620,6 @@ Navigator::run()
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
_pos_sp_triplet_published_invalid_once = false;
navigation_mode_new = nullptr;
_can_loiter_at_sp = false;
break;
Expand Down Expand Up @@ -720,16 +719,8 @@ Navigator::print_status()
void
Navigator::publish_position_setpoint_triplet()
{
// do not publish an invalid setpoint
if (!_pos_sp_triplet.current.valid) {
return;
}

_pos_sp_triplet.timestamp = hrt_absolute_time();

/* lazily publish the position setpoint triplet only once available */
_pos_sp_triplet_pub.publish(_pos_sp_triplet);

_pos_sp_triplet_updated = false;
}

Expand Down