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Navigator: Loiter: always establish new Loiter with center at current… #21798

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merged 1 commit into from
Jul 4, 2023
Merged

Navigator: Loiter: always establish new Loiter with center at current… #21798

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12 changes: 4 additions & 8 deletions src/modules/navigator/loiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ Loiter::on_activation()
reposition();

} else {
// this is executed when the flight mode is switched to Hold manually, not through a reposition
set_loiter_position();
}

Expand Down Expand Up @@ -109,16 +110,11 @@ Loiter::set_loiter_position()
_mission_item.nav_cmd = NAV_CMD_IDLE;

} else {
if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);

} else {
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);

} else {
setLoiterItemFromCurrentPosition(&_mission_item);
}
setLoiterItemFromCurrentPosition(&_mission_item);
}

}
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