diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 3 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
2 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ace13bb78..905d5dee5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c // TODO AUTO_LAND handling if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { /* don't switch to other states until takeoff not completed */ - if (local_pos->z > -takeoff_alt || status->condition_landed) { + // XXX: only respect the condition_landed when the local position is actually valid + if (status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) { return TRANSITION_NOT_CHANGED; } } diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 0e5f805b4..345a08f7b 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -711,7 +711,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _tecs.set_speed_weight(_parameters.speed_weight); /* execute navigation once we have a setpoint */ - if (_setpoint_valid) { + if (_setpoint_valid && _control_mode.flag_control_auto_enabled) { /* current waypoint (the one currently heading for) */ math::Vector2f curr_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f); |