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Fix heading hold for ekf2 mission takeoff

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Sander Smeets
2016-12-27 13:05:26 +01:00
committed by Lorenz Meier
parent e491817610
commit 3649def02e
1 changed files with 2 additions and 2 deletions
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src/modules/navigator/mission.cpp
+2 -2
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@@ -560,8 +560,8 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.nav_cmd = NAV_CMD_TAKEOFF;
_mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon; _mission_item.lon = _navigator->get_global_position()->lon;
/* ignore yaw for takeoff items */ /* hold heading for takeoff items */
_mission_item.yaw = NAN; _mission_item.yaw = _navigator->get_global_position()->yaw;
_mission_item.altitude = takeoff_alt; _mission_item.altitude = takeoff_alt;
_mission_item.altitude_is_relative = false; _mission_item.altitude_is_relative = false;
_mission_item.autocontinue = true; _mission_item.autocontinue = true;