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mission: handle precision landing inactivation properly

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This commit is contained in:
Dusan Zivkovic 2019-12-09 18:14:53 +01:00 committed by Julian Oes
parent a758ea1220
commit 7eee9deb4c
1 changed files with 11 additions and 11 deletions
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22
src/modules/navigator/mission.cpp
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@ -143,6 +143,10 @@ Mission::on_inactivation()
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
_navigator->publish_vehicle_cmd(&cmd);
if (_navigator->get_precland()->is_activated()) {
_navigator->get_precland()->on_inactivation();
}
}
void
@ -174,17 +178,6 @@ Mission::on_activation()
void
Mission::on_active()
{
if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
// switch out of precision land once landed
if (_navigator->get_land_detected()->landed) {
_navigator->get_precland()->on_inactivation();
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
} else {
_navigator->get_precland()->on_active();
}
}
check_mission_valid(false);
/* check if anything has changed */
@ -270,6 +263,13 @@ Mission::on_active()
do_abort_landing();
}
if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
_navigator->get_precland()->on_active();
} else if (_navigator->get_precland()->is_activated()) {
_navigator->get_precland()->on_inactivation();
}
}
bool