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Navigator: Loiter: always establish new Loiter with center at current pos

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When switching into Hold mode establish a Loiter around current position,
even if we were before already loitering (eg in Mission mode).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-07-04 09:35:40 +02:00
committed by Beat Küng
parent 288e3ae74a
commit f275085e84
1 changed files with 4 additions and 8 deletions
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src/modules/navigator/loiter.cpp
+4 -8
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@@ -55,6 +55,7 @@ Loiter::on_activation()
reposition();
} else {
// this is executed when the flight mode is switched to Hold manually, not through a reposition
set_loiter_position();
}
@@ -92,16 +93,11 @@ Loiter::set_loiter_position()
_mission_item.nav_cmd = NAV_CMD_IDLE;
} else {
if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
} else {
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
} else {
setLoiterItemFromCurrentPosition(&_mission_item);
}
setLoiterItemFromCurrentPosition(&_mission_item);
}
}