fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator land: don't project VTOL braking waypoint without global position

Browse Source
This commit is contained in:
Matthias Grob 2024-10-24 19:53:55 +02:00 committed by Silvan Fuhrer
parent b6eb8dbfd9
commit b8a602414d
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/navigator/land.cpp
View File

@ -83,8 +83,9 @@ void
Land::on_active()
{
/* for VTOL update landing location during back transition */
if (_navigator->get_vstatus()->is_vtol &&
_navigator->get_vstatus()->in_transition_mode) {
if (_navigator->get_vstatus()->is_vtol
&& _navigator->get_vstatus()->in_transition_mode
&& _navigator->get_local_position()->xy_global) {
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards