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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-19 16:10:57 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-19 16:10:57 +0100 |
| commit | 1f62cede684c50c8af0f3680a670a0e2339fe1ce (patch) | |
| tree | 1b716d16b8c9f297cb0da20f123f424b1af47b56 /src/modules/navigator | |
| parent | 18b28f0efd0fa308644eb69bc9c90f7378435542 (diff) | |
| download | px4-firmware-1f62cede684c50c8af0f3680a670a0e2339fe1ce.tar.gz px4-firmware-1f62cede684c50c8af0f3680a670a0e2339fe1ce.tar.bz2 px4-firmware-1f62cede684c50c8af0f3680a670a0e2339fe1ce.zip | |
navigator: for FW: on landing, disable switch to NAV_STATE_READY when landing
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index d77d8c6aa..ca5735509 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1259,7 +1259,13 @@ Navigator::check_mission_item_reached() } if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { - return _vstatus.condition_landed; + if (_vstatus.is_rotary_wing) { + return _vstatus.condition_landed; + } else { + /* For fw there is currently no landing detector: + * make sure control is not stopped when overshooting the landing waypoint */ + return false; + } } /* XXX TODO count turns */ |