From 2eea0af843d7018ba5ce5bc050483e638a1e3e0a Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 2 Mar 2016 10:14:05 -0500 Subject: [PATCH] navigator only accept waypoints if !landed --- src/modules/navigator/mission_block.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 1dd3a9fb8f..86d7e14427 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -128,7 +128,9 @@ MissionBlock::is_mission_item_reached() hrt_abstime now = hrt_absolute_time(); - if (!_waypoint_position_reached) { + if ((_navigator->get_vstatus()->condition_landed == false) + && !_waypoint_position_reached) { + float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f;