From 6d8d6323cbcc9233df2dea1986a2a4a2f923fa56 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 27 Oct 2017 16:48:39 -0400 Subject: [PATCH] navigator: bring follow me back to life The function `mission_item_to_position_setpoint()` is called in `FollowTarget::update_position_sp()`. The nav_cmd is a NAV_CMD_DO_FOLLOW_REPOSITION as set earlier in `set_follow_target_item`. Since `mission_item_to_position_setpointi` returns early because the item presumably contains no position, the lat/lon of the mission_item are not copied over to the position_setpoint and therefore the vehicle will never move in follow me position mode. --- src/modules/navigator/mission_block.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 107866180c..bb925f60b6 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -475,7 +475,8 @@ MissionBlock::item_contains_position(const mission_item_s &item) item.nav_cmd == NAV_CMD_TAKEOFF || item.nav_cmd == NAV_CMD_LOITER_TO_ALT || item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || - item.nav_cmd == NAV_CMD_VTOL_LAND; + item.nav_cmd == NAV_CMD_VTOL_LAND || + item.nav_cmd == NAV_CMD_DO_FOLLOW_REPOSITION; } bool