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change land setpoint

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This commit is contained in:
Jacob Dahl
2023-03-16 13:16:54 -08:00
parent 7bfcbd7865
commit 1b226ed241
2 changed files with 5 additions and 1 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+3 -1
View File
@@ -240,7 +240,9 @@ void FlightTaskAuto::_prepareLandSetpoints()
}
// Update xy-position in case of landing position changes (etc. precision landing)
_land_position = Vector3f(_target(0), _target(1), NAN);
_position_setpoint(2) = NAN;
_land_position = _position_setpoint;
// _land_position = Vector3f(_target(0), _target(1), NAN);
// User input assisted landing
if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {
src/modules/navigator/loiter.cpp
+2
View File
@@ -57,6 +57,8 @@ Loiter::on_inactive()
void
Loiter::on_activation()
{
PX4_INFO("Loiter::on_activation");
if (_navigator->get_reposition_triplet()->current.valid) {
reposition();