From a18f3e5d45e73ce7afd4988bed2e0e92ecad6b59 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Fri, 17 May 2019 11:42:11 +0200 Subject: [PATCH] reset the position lock only if current triplet latitude and longitude are valid --- src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp index 51b4b3aee2..c117d6b668 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp @@ -178,10 +178,12 @@ bool FlightTaskAuto::_evaluateTriplets() } else { tmp_target(0) = _lock_position_xy(0); tmp_target(1) = _lock_position_xy(1); - _lock_position_xy.setAll(NAN); } } else { + // reset locked position if current lon and lat are valid + _lock_position_xy.setAll(NAN); + // Convert from global to local frame. map_projection_project(&_reference_position, _sub_triplet_setpoint->get().current.lat, _sub_triplet_setpoint->get().current.lon, &tmp_target(0), &tmp_target(1));