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;