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mission: ensure precland::on_inactivation() is called once landed

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This commit is contained in:
Dusan Zivkovic
2019-10-28 16:04:11 -04:00
committed by Daniel Agar
parent 8e9dc60eaa
commit 9e3775515e
1 changed files with 11 additions and 11 deletions
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src/modules/navigator/mission.cpp
+11 -11
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@@ -174,6 +174,17 @@ Mission::on_activation()
void
Mission::on_active()
{
if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
// switch out of precision land once landed
if (_navigator->get_land_detected()->landed) {
_navigator->get_precland()->on_inactivation();
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
} else {
_navigator->get_precland()->on_active();
}
}
check_mission_valid(false);
/* check if anything has changed */
@@ -263,17 +274,6 @@ Mission::on_active()
do_abort_landing();
}
if (_work_item_type == WORK_ITEM_TYPE_PRECISION_LAND) {
// switch out of precision land once landed
if (_navigator->get_land_detected()->landed) {
_navigator->get_precland()->on_inactivation();
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
} else {
_navigator->get_precland()->on_active();
}
}
}
bool