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Navigator: Fix RTL backtransition for VTOL

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A recent change removed the command forwarding required for VTOL transitions. This change brings this back.

Partially reverts https://github.com/PX4/Firmware/pull/7249
This commit is contained in:
Lorenz Meier
2017-06-15 08:27:23 +02:00
parent e28f8bff67
commit d5c923c7ef
1 changed files with 5 additions and 0 deletions
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src/modules/navigator/rtl.cpp
+5
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@@ -300,6 +300,11 @@ RTL::set_rtl_item()
reset_mission_item_reached(); reset_mission_item_reached();
/* execute command if set. This is required for commands like VTOL transition */
if (!item_contains_position(&_mission_item)) {
issue_command(&_mission_item);
}
/* convert mission item to current position setpoint and make it valid */ /* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false; pos_sp_triplet->next.valid = false;