From 4fc24dce60c97f77051b64b4198a57deda424bbf Mon Sep 17 00:00:00 2001 From: sander Date: Mon, 28 Mar 2016 01:36:21 +0200 Subject: [PATCH] Set correct setpoint type for vtol transitions --- src/modules/navigator/mission_block.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 78683c97e5..47889b1022 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -334,6 +334,11 @@ MissionBlock::item_contains_position(const struct mission_item_s *item) void MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp) { + /* set the correct setpoint for vtol transition */ + if(item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) { + sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION; + } + /* don't change the setpoint for non-position items */ if (!item_contains_position(item)) { return;