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

proper setpoint handling on takeoff, switch to loiter sp when takeoff finished

Browse Source
This commit is contained in:
Andreas Antener 2015-12-20 17:41:47 +01:00 committed by Lorenz Meier
parent fe90e7882b
commit c033ef959a
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/navigator/takeoff.cpp
View File

@ -99,5 +99,11 @@ Takeoff::on_active()
if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();
/* set loiter item so position controllers stop doing takeoff logic */
set_loiter_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
}