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loiter: set loiter position to current position setpoint, if it is a loiter item

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Konrad
2023-11-13 12:43:58 +01:00
committed by Thomas Stastny
parent 6800a448b0
commit 32127ca789
2 changed files with 17 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -747,7 +747,8 @@ MissionBlock::setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *it
item->lat = pos_sp_triplet->current.lat;
item->lon = pos_sp_triplet->current.lon;
item->altitude = pos_sp_triplet->current.alt;
item->loiter_radius = pos_sp_triplet->current.loiter_radius;
item->loiter_radius = pos_sp_triplet->current.loiter_direction_counter_clockwise ?
-pos_sp_triplet->current.loiter_radius : pos_sp_triplet->current.loiter_radius;
}
void