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Merge pull request #1014 from PX4/rtl_autoland_fix

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navigator: autocontinue and RTL autolanding fixes
This commit is contained in:
Thomas Gubler
2014-06-01 09:50:23 +02:00
parent 98e7d2b998 fcb8905533
commit dc13307a8e
1 changed files with 8 additions and 2 deletions
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10
src/modules/navigator/navigator_main.cpp
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@@ -1458,7 +1458,6 @@ Navigator::check_mission_item_reached()
/* XXX TODO count turns */
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item.loiter_radius > 0.01f) {
@@ -1567,7 +1566,14 @@ Navigator::on_mission_item_reached()
}
if (_mission.current_mission_available()) {
set_mission_item();
if (_mission_item.autocontinue) {
/* continue mission */
set_mission_item();
} else {
/* autocontinue disabled for this item */
request_loiter_or_ready();
}
} else {
/* if no more mission items available then finish mission */