From 5823101f070de809cef5e83add12ce0ecf1708e6 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 6 Jul 2020 16:34:39 +0200 Subject: [PATCH] FlightTaskOrbit: reset reached when new parameters are set such that they get applied to the straight line trajectory class and the drone starts approaching the new orbit. --- src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp index 684dd0bcda..fff035a3dd 100644 --- a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp @@ -97,6 +97,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command) // perpendicularly approach the orbit circle again when new parameters get commanded _in_circle_approach = true; + _circle_approach_line.reset(); return ret; }