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navigator: loiter fixes

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This commit is contained in:
Anton Babushkin
2014-06-26 00:17:25 +02:00
parent 39454ca99d
commit c5a5604ae9
7 changed files with 34 additions and 39 deletions
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src/modules/navigator/mission.cpp
+4 -4
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@@ -233,7 +233,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
_navigator->set_is_in_loiter(false);
_navigator->set_can_loiter_at_sp(false);
/* try setting offboard mission item */
} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -243,7 +243,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
_navigator->set_is_in_loiter(false);
_navigator->set_can_loiter_at_sp(false);
} else {
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
@@ -253,9 +253,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached;
set_loiter_item(use_current_pos_sp, pos_sp_triplet);
set_loiter_item(pos_sp_triplet);
reset_mission_item_reached();
report_mission_finished();
}