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Auto take-off corner case: Reset work item type when landed

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Michal Stasiak
2016-05-03 11:48:55 +02:00
parent b883b30404
commit 9db80b75f4
1 changed files with 5 additions and 0 deletions
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src/modules/navigator/mission.cpp
+5
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@@ -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;
}
}
}