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

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This commit is contained in:
Luka Filipović
2025-10-01 17:44:58 +02:00
committed by Matthias Grob
parent 32a74afbb8
commit 6c69d86d7e
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/mission_base.cpp
+3 -1
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@@ -556,7 +556,9 @@ void MissionBase::setEndOfMissionItems()
_mission_item.nav_cmd = NAV_CMD_IDLE; _mission_item.nav_cmd = NAV_CMD_IDLE;
} else { } 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); setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else { } else {