From d9cec600edfe030bfea65900840935eb62e2f15b Mon Sep 17 00:00:00 2001 From: Sean Matthews Date: Tue, 13 Jun 2017 12:33:29 -0400 Subject: [PATCH] Fixes #7313: Invalid setpoint yaw after takeoff --- src/modules/navigator/mission_block.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 356f2b5ca7b4..26455e5176e2 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -519,6 +519,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite sp->lon = item->lon; sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude; sp->yaw = item->yaw; + sp->yaw_valid = !PX4_ISFINITE(item->yaw); sp->loiter_radius = (fabsf(item->loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item->loiter_radius) : _navigator->get_loiter_radius(); sp->loiter_direction = (item->loiter_radius > 0) ? 1 : -1;