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Navigator: land: set lat/lon fields of triplet to NAN if global position is not valid

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-10-23 15:45:27 +02:00
parent 3b0dac6840
commit b6eb8dbfd9
2 changed files with 11 additions and 3 deletions
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src/modules/navigator/land.cpp
+2 -1
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@@ -58,7 +58,8 @@ Land::on_activation()
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _navigator->get_local_position()->xy_global) { // only execute if global position is valid
_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
}
src/modules/navigator/mission_block.cpp
+9 -2
View File
@@ -832,8 +832,15 @@ MissionBlock::set_land_item(struct mission_item_s *item)
item->nav_cmd = NAV_CMD_LAND;
// set land item to current position
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
if (_navigator->get_local_position()->xy_global) {
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
} else {
item->lat = (double)NAN;
item->lon = (double)NAN;
}
item->yaw = NAN;
item->altitude = 0;