From 1b226ed24109eb8329587dc3e00c205fcfdcda6f Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Thu, 16 Mar 2023 13:16:54 -0800 Subject: [PATCH] change land setpoint --- src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 4 +++- src/modules/navigator/loiter.cpp | 2 ++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index f0f5a89683..caf253fb65 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -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()) { diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 07dfc5f3f7..3066e2cb04 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -57,6 +57,8 @@ Loiter::on_inactive() void Loiter::on_activation() { + PX4_INFO("Loiter::on_activation"); + if (_navigator->get_reposition_triplet()->current.valid) { reposition();