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Fix VTOL_LAND to have correct SETPOINT_TYPE

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This commit is contained in:
sander
2016-04-02 21:29:26 +01:00
committed by Lorenz Meier
parent aafeab63d5
commit 240c8fbee1
2 changed files with 10 additions and 4 deletions
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src/modules/navigator/mission.cpp
+6 -3
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@@ -561,7 +561,7 @@ Mission::set_mission_items()
/* ignore yaw for landing items */
/* XXX: if specified heading for landing is desired we could add another step before the descent
* that aligns the vehicle first */
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND ) {
_mission_item.yaw = NAN;
}
@@ -762,8 +762,9 @@ void
Mission::heading_sp_update()
{
/* we don't want to be yawing during takeoff, landing or aligning for a transition */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
return;
}
@@ -854,7 +855,9 @@ Mission::altitude_sp_foh_update()
/* Don't do FOH for landing and takeoff waypoints, the ground may be near
* and the FW controller has a custom landing logic */
if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
if (_mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
return;
}