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AC_WPNav: OA handles failure to set wp on deactivation

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This may never happen in practice but just in case
This commit is contained in:
Randy Mackay 2023-12-01 17:11:44 +09:00
parent 8546dfaf4d
commit 0c8f427d42
1 changed files with 4 additions and 1 deletions
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5
libraries/AC_WPNav/AC_WPNav_OA.cpp
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@ -91,7 +91,10 @@ bool AC_WPNav_OA::update_wpnav()
case AP_OAPathPlanner::OA_NOT_REQUIRED: case AP_OAPathPlanner::OA_NOT_REQUIRED:
if (_oa_state != oa_retstate) { if (_oa_state != oa_retstate) {
// object avoidance has become inactive so reset target to original destination // object avoidance has become inactive so reset target to original destination
set_wp_destination(_destination_oabak, _terrain_alt_oabak); if (!set_wp_destination(_destination_oabak, _terrain_alt_oabak)) {
// trigger terrain failsafe
return false;
}
_oa_state = oa_retstate; _oa_state = oa_retstate;
} }
break; break;