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enable takeoff in gps denied areas and minor requested changes

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This commit is contained in:
ChristophTobler
2017-02-13 21:11:25 +01:00
committed by Lorenz Meier
parent 64092f087f
commit 0263ab8cd2
3 changed files with 19 additions and 24 deletions
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src/modules/navigator/mission_block.cpp
+1 -7
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@@ -711,13 +711,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (at_current_location) {
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
if (_navigator->home_position_valid()) {
item->yaw = _navigator->get_global_position()->yaw;
} else {
item->yaw = _navigator->get_local_position()->yaw;
}
item->yaw = _navigator->get_local_position()->yaw;
/* use home position */