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Fixedwing: Enable loiter mode, tested in HIL

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Julian Oes
2013-11-06 23:11:14 +01:00
parent 9894751442
commit c75c5a5f30
2 changed files with 3 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -1
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@@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
// TODO AUTO_LAND handling
if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
/* don't switch to other states until takeoff not completed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
// XXX: only respect the condition_landed when the local position is actually valid
if (status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
return TRANSITION_NOT_CHANGED;
}
}