fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mission_base: on mission end, set loiter position from previous position type setpoint

Browse Source
This commit is contained in:
Luka Filipović 2025-09-24 13:32:41 +02:00 committed by Matthias Grob
parent 32a74afbb8
commit 6c69d86d7e
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/navigator/mission_base.cpp
View File

@ -556,7 +556,9 @@ void MissionBase::setEndOfMissionItems()
_mission_item.nav_cmd = NAV_CMD_IDLE;
} else {
if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
if (pos_sp_triplet->current.valid &&
(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER ||
pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)) {
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else {