UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-24 15:27:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

revert(fw_mode_manager): drop GUIDED_COURSE guard on course setpoints

Browse Source 
Reverts the hotfix from #27487. The navigator now guarantees the course
field is NaN unless Course mode explicitly commands it, so
PX4_ISFINITE(course) is again a sufficient trigger for course guidance.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-07-03 13:43:26 -07:00
committed by Mahima Yoga
parent 9f916e9811
commit 1499238f1c
1 changed files with 2 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/fw_mode_manager/FixedWingModeManager.cpp
View File

@@ -574,8 +574,7 @@ FixedWingModeManager::control_auto(const float control_interval, const Vector2d
move_position_setpoint_for_vtol_transition(current_sp);
// Course setpoints are handled directly to avoid entering hold mode
if (PX4_ISFINITE(current_sp.course)
&& _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_GUIDED_COURSE) {
if (PX4_ISFINITE(current_sp.course)) {
control_auto_position(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp);
return;
}
@@ -779,8 +778,7 @@ FixedWingModeManager::control_auto_position(const float control_interval, const
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
// Course Hold: if a course is explicitly set, navigate along that bearing (ground track)
if (PX4_ISFINITE(pos_sp_curr.course)
&& _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_GUIDED_COURSE) {
if (PX4_ISFINITE(pos_sp_curr.course)) {
const float target_airspeed = pos_sp_curr.cruising_speed > FLT_EPSILON ? pos_sp_curr.cruising_speed : NAN;
const Vector2f curr_pos_local{_local_pos.x, _local_pos.y};