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Ensure pitch min param is correctly handled

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This commit is contained in:
Lorenz Meier
2016-10-23 16:26:03 +02:00
committed by Lorenz Meier
parent eaae1abdaf
commit c340974991
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+3 -1
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@@ -486,7 +486,6 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->loiter_radius = (fabsf(item->loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item->loiter_radius) :
_navigator->get_loiter_radius();
sp->loiter_direction = (item->loiter_radius > 0) ? 1 : -1;
sp->pitch_min = item->pitch_min;
sp->acceptance_radius = item->acceptance_radius;
sp->disable_mc_yaw_control = false;
sp->cruising_speed = _navigator->get_cruising_speed();
@@ -498,6 +497,9 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
break;
case NAV_CMD_TAKEOFF:
// set pitch and ensure that the hold time is zero
sp->pitch_min = item->pitch_min;
sp->time_inside = 0.0f;
case NAV_CMD_VTOL_TAKEOFF:
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;