From b01d88770062dd4328f73e3e185e06f99dc6b5a1 Mon Sep 17 00:00:00 2001 From: sanderux Date: Thu, 12 Oct 2017 14:56:25 +0200 Subject: [PATCH] When switching to land in VTOL, update land target during back transition --- src/modules/navigator/land.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp index e96913ac8f..a6aba367c9 100644 --- a/src/modules/navigator/land.cpp +++ b/src/modules/navigator/land.cpp @@ -94,6 +94,17 @@ Land::on_activation() void Land::on_active() { + /* for VTOL update landing location during back transition */ + if (_navigator->get_vstatus()->is_vtol && + _navigator->get_vstatus()->in_transition_mode) + { + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + pos_sp_triplet->current.lat = _navigator->get_global_position()->lat; + pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; + _navigator->set_position_setpoint_triplet_updated(); + } + + if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) { _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated();