From 00c9e4b79fdd447dd4c742235929ff47e7d8cf2e Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Fri, 5 May 2017 13:26:55 +0200
Subject: [PATCH] mc_pos_control: set triplets.valid to first time when landed

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index c5a7b4542b..76af8084f4 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -2344,6 +2344,11 @@ MulticopterPositionControl::task_main()
 			_takeoff_vel_limit = -0.5f;
 		}
 
+		/* set triplets to invalid if we just landed */
+		if (_vehicle_land_detected.landed && !was_landed) {
+			_pos_sp_triplet.current.valid = false;
+		}
+
 		was_landed = _vehicle_land_detected.landed;
 
 		update_ref();