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Navigator: VTOL: track virtual WP 1m ahead of vehicle during backtransition in Land mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2022-02-09 11:39:47 -05:00
committed by Daniel Agar
parent dcde0d0559
commit 1d6396b418
2 changed files with 7 additions and 3 deletions
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src/modules/navigator/mission_block.cpp
+1 -1
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@@ -795,7 +795,7 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode;
item->params[1] = 0.0f;
item->yaw = _navigator->get_local_position()->heading;
item->yaw = _navigator->get_local_position()->heading; // ideally that would be course and not heading
item->autocontinue = true;
}