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Navigator: make sure to reset mission.item fields touched by set_vtol_transition_item (#21641)

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set_vtol_transition_item sets the params of the mission item directly
to values that make sense for NAV_CMD_DO_VTOL_TRANSITION, but don't
for other NAV_CMDs. So make sure that whenever we use it, we then in
the next step reset the touched mission_item fields.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-06-02 10:21:23 +02:00
committed by GitHub
parent ebe152fc22
commit a1167d6c98
3 changed files with 10 additions and 3 deletions
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src/modules/navigator/mission.cpp
+4 -1
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@@ -982,7 +982,10 @@ Mission::set_mission_items()
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
// have to reset here because these field were used in set_vtol_transition_item
_mission_item.time_inside = 0.f;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
// make previous setpoint invalid, such that there will be no prev-current line following.
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point