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When switching to land in VTOL, update land target during back transition

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sanderux
2017-10-15 15:34:59 +02:00
committed by Lorenz Meier
parent ff6ffa73b5
commit b01d887700
1 changed files with 11 additions and 0 deletions
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src/modules/navigator/land.cpp
+11
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@@ -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();