From 1f62cede684c50c8af0f3680a670a0e2339fe1ce Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 19 Jan 2014 16:10:57 +0100 Subject: [PATCH] navigator: for FW: on landing, disable switch to NAV_STATE_READY when landing --- src/modules/navigator/navigator_main.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index d77d8c6aa6..ca5735509a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1259,7 +1259,13 @@ Navigator::check_mission_item_reached() } if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { - return _vstatus.condition_landed; + 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; + } } /* XXX TODO count turns */