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Navigator: Avoid attitude stepoint resets by not going into Takeoff mode if VTOL_Takeoff is selected in-air #22519

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merged 1 commit into from
Dec 11, 2023
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Navigator: Avoid attitude stepoint resets by not going into Takeoff mode if VTOL_Takeoff is selected in-air #22519

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5 changes: 1 addition & 4 deletions src/modules/navigator/mission_block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -694,6 +694,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
break;

case NAV_CMD_TAKEOFF:
case NAV_CMD_VTOL_TAKEOFF:

// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
Expand All @@ -707,10 +708,6 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi

break;

case NAV_CMD_VTOL_TAKEOFF:
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;

case NAV_CMD_LAND:
case NAV_CMD_VTOL_LAND:
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
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