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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
2021-01-04 11:58:16 +01:00
committed by Lorenz Meier
parent cfb3cdc82f
commit b63f202b3c
4 changed files with 14 additions and 12 deletions
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src/modules/navigator/navigator_main.cpp
+3 -2
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@@ -564,10 +564,11 @@ Navigator::run()
}
if (!rtl_activated && _rtl.initialClimbDone() && get_mission_start_land_available()) {
if (!rtl_activated && _rtl.getClimbAndReturnDone() && get_mission_start_land_available()) {
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (!getMissionLandingInProgress()) {
if (!getMissionLandingInProgress() && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED
&& !get_land_detected()->landed) {
start_mission_landing();
}