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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
2020-04-26 22:59:07 -04:00
committed by Daniel Agar
parent b3afb325d8
commit 0779a0502c
1 changed files with 6 additions and 1 deletions
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src/modules/navigator/takeoff.cpp
+6 -1
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@@ -149,7 +149,12 @@ Takeoff::set_takeoff_position()
memset(rep, 0, sizeof(*rep)); 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(); _navigator->set_position_setpoint_triplet_updated();
} }