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Navigator: same logic for VTOL_TAKEOFF as for TAKEOFF (#22518)

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Set the setpoint type to POSITION if already in air, not to TAKEOFF.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-12-11 14:18:22 +01:00 committed by GitHub
parent ebae9ae3d7
commit 8aab3e8013
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1 changed files with 1 additions and 4 deletions
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5
src/modules/navigator/mission_block.cpp
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@ -694,6 +694,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
break;
case NAV_CMD_TAKEOFF:
case NAV_CMD_VTOL_TAKEOFF:
// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
@ -707,10 +708,6 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
break;
case NAV_CMD_VTOL_TAKEOFF:
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;
case NAV_CMD_LAND:
case NAV_CMD_VTOL_LAND:
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;