diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 16 |
1 files changed, 6 insertions, 10 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 114776327..5139ae6cd 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -688,7 +688,8 @@ Navigator::task_main() /* RETURN switch, overrides MISSION switch */ if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { /* switch to RTL if not already landed after RTL and home position set */ - if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) && + if (!(_rtl_state == RTL_STATE_DESCEND && + (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } @@ -746,7 +747,8 @@ Navigator::task_main() break; case NAV_STATE_RTL: - if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) && + if (!(_rtl_state == RTL_STATE_DESCEND && + (myState == NAV_STATE_READY || myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } @@ -1443,14 +1445,7 @@ Navigator::check_mission_item_reached() } if (_mission_item.nav_cmd == NAV_CMD_LAND) { - 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; - } + return _vstatus.condition_landed; } /* XXX TODO count turns */ @@ -1580,6 +1575,7 @@ Navigator::on_mission_item_reached() dispatch(EVENT_LAND_REQUESTED); } else { + _reset_loiter_pos = false; dispatch(EVENT_LOITER_REQUESTED); } |