From c340974991c03d7474747a3739b2d5b6f9d51e20 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Oct 2016 13:54:07 +0200 Subject: [PATCH] Ensure pitch min param is correctly handled --- src/modules/navigator/mission_block.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 7176922ad7..6e78ce1e00 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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;