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Navigator: Only run FOH logic when in mission mode

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Lorenz Meier
2016-05-10 10:13:37 +02:00
parent a686d9a166
commit 65f9a86c19
1 changed files with 4 additions and 3 deletions
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src/modules/navigator/mission.cpp
+4 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -864,11 +864,12 @@ Mission::altitude_sp_foh_update()
return;
}
/* Don't do FOH for landing and takeoff waypoints, the ground may be near
/* Don't do FOH for non-missions, landing and takeoff waypoints, the ground may be near
* and the FW controller has a custom landing logic */
if (_mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
|| _mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| !_navigator->is_planned_mission()) {
return;
}