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vtol_takeoff: reset reposition triplet before handing over to loiter mode 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2022-07-04 12:27:27 +03:00 committed by Silvan Fuhrer
parent d6488fafc3
commit 97f632a408
1 changed files with 7 additions and 0 deletions
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7
src/modules/navigator/vtol_takeoff.cpp
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@ -142,6 +142,13 @@ VtolTakeoff::on_active()
case vtol_takeoff_state::CLIMB: {
// reset any potentially valid reposition triplet which was not handled
// we do this to avoid random loiter locations after switching to loiter mode after this
position_setpoint_triplet_s *reposition_triplet = _navigator->get_reposition_triplet();
_navigator->reset_position_setpoint(reposition_triplet->previous);
_navigator->reset_position_setpoint(reposition_triplet->current);
_navigator->reset_position_setpoint(reposition_triplet->next);
// the VTOL takeoff is done, proceed loitering and upate the navigation state to LOITER
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();