From 64092f087f0a4a533c345eb2cb05741d679f74d7 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Fri, 10 Feb 2017 11:48:48 +0100 Subject: [PATCH] fix landing angle if no gps --- src/modules/navigator/mission_block.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 13ecf30acc..8f7789c17a 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -711,7 +711,13 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio if (at_current_location) { item->lat = _navigator->get_global_position()->lat; item->lon = _navigator->get_global_position()->lon; - item->yaw = _navigator->get_global_position()->yaw; + + if (_navigator->home_position_valid()) { + item->yaw = _navigator->get_global_position()->yaw; + + } else { + item->yaw = _navigator->get_local_position()->yaw; + } /* use home position */