Reposition landing gear check so that it is not overwritten by setpoi…

…nt operations. (#13412)
PX4 · Nov 7, 2019 · 748b664 · 748b664
1 parent 37cc877
commit 748b664
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -70,6 +70,12 @@ bool FlightTaskAutoMapper::update()
  _thrust_setpoint = Vector3f(NAN, NAN, NAN);
  }
 
+ // during mission and reposition, raise the landing gears but only
+ // if altitude is high enough
+ if (_highEnoughForLandingGear()) {
+ _gear.landing_gear = _mission_gear;
+ }
+
  if (_type == WaypointType::idle) {
  _generateIdleSetpoints();
 
@@ -92,12 +98,6 @@ bool FlightTaskAutoMapper::update()
  _yawspeed_setpoint);
  }
 
- // during mission and reposition, raise the landing gears but only
- // if altitude is high enough
- if (_highEnoughForLandingGear()) {
- _gear.landing_gear = _mission_gear;
- }
-
  // update previous type
  _type_previous = _type;
 

diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
@@ -62,6 +62,12 @@ bool FlightTaskAutoMapper2::update()
  _thrust_setpoint = Vector3f(NAN, NAN, NAN);
  }
 
+ // during mission and reposition, raise the landing gears but only
+ // if altitude is high enough
+ if (_highEnoughForLandingGear()) {
+ _gear.landing_gear = landing_gear_s::GEAR_UP;
+ }
+
  switch (_type) {
  case WaypointType::idle:
  _prepareIdleSetpoints();
@@ -100,12 +106,6 @@ bool FlightTaskAutoMapper2::update()
 
  _generateSetpoints();
 
- // during mission and reposition, raise the landing gears but only
- // if altitude is high enough
- if (_highEnoughForLandingGear()) {
- _gear.landing_gear = landing_gear_s::GEAR_UP;
- }
-
  // update previous type
  _type_previous = _type;