From 0779a0502cfd340f1534e535ae2427aa9c208a2c Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 21 Apr 2020 10:45:47 +0300 Subject: [PATCH] takeoff: only set _can_loiter_at_sp if takeoff position has been set Signed-off-by: RomanBapst --- src/modules/navigator/takeoff.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp index f152234da2..2bde007358 100644 --- a/src/modules/navigator/takeoff.cpp +++ b/src/modules/navigator/takeoff.cpp @@ -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(); }