From 557559cd8585204e0de70eed198110431495c53e Mon Sep 17 00:00:00 2001 From: eric Date: Thu, 21 Sep 2017 10:09:20 +0800 Subject: [PATCH] set _triplet_lat_lon_finite true to avoid landing to not the current location, see #7990 --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index d2d4c2f290..1b2225bd8a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1744,6 +1744,8 @@ void MulticopterPositionControl::control_auto(float dt) if (!_mode_auto || !_vehicle_status.is_rotary_wing) { if (!_mode_auto) { _mode_auto = true; + //set _triplet_lat_lon_finite true once switch to AUTO(e.g. LAND) + _triplet_lat_lon_finite = true; } _reset_pos_sp = true;