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various fixed for bugs encountered during testing

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-10-26 10:00:38 +03:00
committed by Lorenz Meier
parent cfb3cdc82f
commit b63f202b3c
4 changed files with 14 additions and 12 deletions
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src/modules/navigator/mission.cpp
+2 -2
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@@ -403,8 +403,8 @@ Mission::find_mission_land_start()
_land_start_index = i;
}
if (_land_start_available && (missionitem.nav_cmd == NAV_CMD_LOITER_TO_ALT)) {
// use the loiter to altitude item of the mission landing as target landing location
if (_land_start_available && i > _land_start_index && item_contains_position(missionitem)) {
// use the position of any waypoint after the land start marker which specifies a position.
_landing_lat = missionitem.lat;
_landing_lon = missionitem.lon;
_landing_alt = missionitem.altitude_is_relative ? missionitem.altitude +