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Skip VTOL_TAKEOFF mission item when in fixed wing mode (#19985)

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* mission: skip VTOL_TAKEOFF mission item when in fixed wing mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* mission: added better comment regarding skipping VTOL Takeoff in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-08-02 15:34:42 +02:00
committed by GitHub
parent f11f2e9797
commit dbf7d32e07
2 changed files with 10 additions and 8 deletions
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src/modules/navigator/mission_block.cpp
+7
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@@ -129,6 +129,13 @@ MissionBlock::is_mission_item_reached()
return false;
}
case NAV_CMD_VTOL_TAKEOFF:
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return true;
}
break;
case NAV_CMD_DELAY:
// Set reached flags directly such that only the delay time is considered
_waypoint_position_reached = true;