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Navigator: Fix RTL command lnd logic for missions

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The navigator was sending RTL commands in the wrong circumstances leading to a cycle between Navigator and Commander.
This commit is contained in:
Lorenz Meier
2017-05-16 08:40:53 +02:00
parent 32685338c9
commit 9be5193965
3 changed files with 1 additions and 17 deletions
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src/modules/navigator/navigator_main.cpp
-10
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@@ -481,16 +481,6 @@ Navigator::task_main()
PX4_WARN("planned landing not available");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH) {
vehicle_command_s vcmd = {};
vcmd.target_system = get_vstatus()->system_id;
vcmd.target_component = get_vstatus()->component_id;
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(pub);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {
if (get_mission_result()->valid &&