From 81b08a01684a6c48511f9d0242e04a51cb8f4c59 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 9 Feb 2022 11:40:34 +0100 Subject: [PATCH] FW Pos C: set position_sp type to position during VTOL backtransition Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index cde39b63d9..3c3621de78 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -1093,9 +1093,9 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons } } - // set to type loiter during VTOL transitions in Land mode (to not start FW landing logic) + // set to type position during VTOL transitions in Land mode (to not start FW landing logic) if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND && _vehicle_status.in_transition_mode) { - position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER; + position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION; } return position_sp_type;