From cb78ba34d734e70570a22cd9cf2c2bd008c48b1c Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 22 Dec 2020 21:42:12 +0100 Subject: [PATCH] Mission: for tangential loiter exit, set current position setpoint typ to position Signed-off-by: Silvan Fuhrer --- 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 7bbe693e20..fd556e0bbd 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -441,7 +441,9 @@ MissionBlock::is_mission_item_reached() bearing += inner_angle; } - // Replace current setpoint lat/lon with tangent coordinate + // set typ to position, will get set to loiter in the fw position controller once close + // and replace current setpoint lat/lon with tangent coordinate + curr_sp.type = position_setpoint_s::SETPOINT_TYPE_POSITION; waypoint_from_heading_and_distance(curr_sp.lat, curr_sp.lon, bearing, fabsf(curr_sp.loiter_radius), &curr_sp.lat, &curr_sp.lon);