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takeoff: only set _can_loiter_at_sp if takeoff position has been set

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-04-21 10:45:47 +03:00 committed by Daniel Agar
parent b3afb325d8
commit 0779a0502c
1 changed files with 6 additions and 1 deletions
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7
src/modules/navigator/takeoff.cpp
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@ -149,7 +149,12 @@ Takeoff::set_takeoff_position()
memset(rep, 0, sizeof(*rep));
}
_navigator->set_can_loiter_at_sp(true);
if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) {
_navigator->set_can_loiter_at_sp(true);
} else {
_navigator->set_can_loiter_at_sp(false);
}
_navigator->set_position_setpoint_triplet_updated();
}