From 5b5d5ac6d5bd3f15004c2e2ab98af5d62d6a5152 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sun, 25 Nov 2018 11:12:24 +0000 Subject: [PATCH] mc_pos_control: let orbit task do its work --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +++++ 1 file changed, 5 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 9942152352..0dcd57e2a1 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -301,6 +301,7 @@ private: * check if task should be switched because of failsafe */ void check_failure(bool task_failure, uint8_t nav_state); + /** * send vehicle command to inform commander about failsafe */ @@ -996,6 +997,10 @@ MulticopterPositionControl::start_flight_task() } } + if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT) { + should_disable_task = false; + } + // check task failure if (task_failure) {