From 9db80b75f4603787b96ce324f6a827fd29406cb0 Mon Sep 17 00:00:00 2001 From: Michal Stasiak Date: Tue, 3 May 2016 11:48:55 +0200 Subject: [PATCH] Auto take-off corner case: Reset work item type when landed --- src/modules/navigator/mission.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 93a622809a..cd54e93f25 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -146,6 +146,11 @@ Mission::on_inactive() /* require takeoff after non-loiter or landing */ if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) { _need_takeoff = true; + /* Reset work item type to default if auto take-off has been paused or aborted, + and we landed in manual mode. */ + if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) { + _work_item_type = WORK_ITEM_TYPE_DEFAULT; + } } }