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Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index af1b9aac0..4cd60d8d8 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1533,7 +1533,7 @@ Navigator::check_mission_item_reached() } } - if (!_waypoint_yaw_reached) { + if (_waypoint_position_reached && !_waypoint_yaw_reached) { if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) { /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); |