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navigator mission don't report loiter if landed

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Daniel Agar
2016-07-27 10:39:07 +02:00
committed by Julian Oes
parent c4cb916afa
commit a9cb2d2fbe
1 changed files with 11 additions and 6 deletions
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src/modules/navigator/mission.cpp
+11 -6
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@@ -388,13 +388,18 @@ Mission::set_mission_items()
} else { } else {
/* no mission available or mission finished, switch to loiter */ /* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) { if (_mission_type != MISSION_TYPE_NONE) {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, loitering"); if (_navigator->get_land_detected()->landed) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, landed");
} else {
/* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, loitering");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
}
user_feedback_done = true; user_feedback_done = true;
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
} }
_mission_type = MISSION_TYPE_NONE; _mission_type = MISSION_TYPE_NONE;