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mc_pos_control: set triplets.valid to first time when landed

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Dennis Mannhart
2017-05-15 15:41:47 +02:00
parent 9e383f2cd3
commit 00c9e4b79f
1 changed files with 5 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5
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@@ -2344,6 +2344,11 @@ MulticopterPositionControl::task_main()
_takeoff_vel_limit = -0.5f; _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; was_landed = _vehicle_land_detected.landed;
update_ref(); update_ref();