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author | Julian Oes <julian@oes.ch> | 2013-11-26 15:25:27 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-11-26 15:25:27 +0100 |
commit | a989e796638256caf5acba403760673384a24d64 (patch) | |
tree | bd6be4cf30764cb8246267dd8b249d88d93457c3 /src/modules/navigator | |
parent | 9a79ad4cdb72bfa8a878eb522d17b51ff640b002 (diff) | |
download | px4-firmware-a989e796638256caf5acba403760673384a24d64.tar.gz px4-firmware-a989e796638256caf5acba403760673384a24d64.tar.bz2 px4-firmware-a989e796638256caf5acba403760673384a24d64.zip |
Navigator: Don't try to go to next WP or loiter after landing, just stay in landing mode
Diffstat (limited to 'src/modules/navigator')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 399985442..8bd786a7b 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -944,11 +944,16 @@ Navigator::reset_mission_item_reached() void Navigator::check_mission_item_reached() { - // warnx("checking mission item reached"); + /* don't check if mission item is already reached */ if (_mission_item_reached) { return; } + /* don't try to reach the landing mission, just stay in that mode */ + if (_mission_item_triplet.current.nav_cmd == MAV_CMD_NAV_LAND) { + return; + } + uint64_t now = hrt_absolute_time(); float orbit; |