From 86d3603e2d6b2d68931c40a0dbd610277bb1c0a4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 12 Apr 2018 18:55:49 +0300 Subject: [PATCH] precland: fix landing target pose validity checking In precland the copter may switch to horizontal approach state with an old landing target pose message. --- src/modules/navigator/precland.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp index ebf634e60c..bb240ac93b 100644 --- a/src/modules/navigator/precland.cpp +++ b/src/modules/navigator/precland.cpp @@ -477,7 +477,7 @@ bool PrecLand::check_state_conditions(PrecLandState state) } // If we're trying to switch to this state, the target needs to be visible - return _target_pose_updated && _target_pose.abs_pos_valid; + return _target_pose_updated && _target_pose_valid && _target_pose.abs_pos_valid; case PrecLandState::DescendAboveTarget: