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Additional yaw handling on land

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This commit is contained in:
sander 2016-04-11 11:41:26 +02:00 committed by Lorenz Meier
parent e2812e34f8
commit 3307c71e6d
2 changed files with 1 additions and 1 deletions
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1
src/modules/navigator/mission_block.cpp
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@ -548,7 +548,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
item->altitude = 0;
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();

1
src/modules/navigator/rtl.cpp
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@ -267,6 +267,7 @@ RTL::set_rtl_item()
}
case RTL_STATE_LAND: {
_mission_item.yaw = _navigator->get_home_position()->yaw;
set_land_item(&_mission_item, false);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: land at home");