From fa1a0b848b589cdd7ec7108f10ce9a8937a70f2d Mon Sep 17 00:00:00 2001 From: Dusan Zivkovic Date: Mon, 8 Jun 2020 17:47:32 +0200 Subject: [PATCH] FlightTaskAuto: update waypoints on every iteration when in offtrack state --- src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp index b711261347..0098bb2e57 100644 --- a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp @@ -297,7 +297,7 @@ bool FlightTaskAuto::_evaluateTriplets() State previous_state = _current_state; _current_state = _getCurrentState(); - if (triplet_update || (_current_state != previous_state)) { + if (triplet_update || (_current_state != previous_state) || _current_state == State::offtrack) { _updateInternalWaypoints(); _mission_gear = _sub_triplet_setpoint.get().current.landing_gear; }