diff options
Diffstat (limited to 'src/modules/navigator/mission.cpp')
| -rw-r--r-- | src/modules/navigator/mission.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index becaa09e8..c09f61744 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -233,7 +233,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: onboard mission running"); } _mission_type = MISSION_TYPE_ONBOARD; - _navigator->set_is_in_loiter(false); + _navigator->set_can_loiter_at_sp(false); /* try setting offboard mission item */ } else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) { @@ -243,7 +243,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: offboard mission running"); } _mission_type = MISSION_TYPE_OFFBOARD; - _navigator->set_is_in_loiter(false); + _navigator->set_can_loiter_at_sp(false); } else { if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_info(_navigator->get_mavlink_fd(), @@ -253,9 +253,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: no mission available"); } _mission_type = MISSION_TYPE_NONE; + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); - bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached; - set_loiter_item(use_current_pos_sp, pos_sp_triplet); + set_loiter_item(pos_sp_triplet); reset_mission_item_reached(); report_mission_finished(); } |