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Fixes #7313: Invalid setpoint yaw after takeoff

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Sean Matthews 2017-06-13 12:33:29 -04:00 committed by Kabir Mohammed
parent 89a8c656f2
commit d9cec600ed
1 changed files with 1 additions and 0 deletions
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src/modules/navigator/mission_block.cpp
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@ -519,6 +519,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->lon = item->lon;
sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
sp->yaw = item->yaw;
sp->yaw_valid = !PX4_ISFINITE(item->yaw);
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;