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

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Andreas Antener
2015-12-28 15:23:20 +01:00
committed by Lorenz Meier
parent fe90e7882b
commit c033ef959a
1 changed files with 6 additions and 0 deletions
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src/modules/navigator/takeoff.cpp
+6
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@@ -99,5 +99,11 @@ Takeoff::on_active()
if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) { if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
_navigator->get_mission_result()->finished = true; _navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated(); _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();
} }
} }