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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_block.cpp
+4 -1
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@@ -93,7 +93,8 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_SET_SERVO:
return true;
case NAV_CMD_LAND:
case NAV_CMD_LAND: /* fall through */
case NAV_CMD_VTOL_LAND:
return _navigator->get_vstatus()->condition_landed;
/* TODO: count turns */
@@ -358,10 +359,12 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
break;
case NAV_CMD_TAKEOFF:
case NAV_CMD_VTOL_TAKEOFF:
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;
case NAV_CMD_LAND:
case NAV_CMD_VTOL_LAND:
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_land.get()){
sp->disable_mc_yaw_control = true;