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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/vtol_takeoff.cpp
+2 -1
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@@ -117,8 +117,9 @@ VtolTakeoff::on_active()
// we need the vehicle to loiter indefinitely but also we want this mission item to be reached as soon
// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
// however it will just continue loitering as there is no next mission item
_mission_item.time_inside = 1;
_mission_item.time_inside = 1.f;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);