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Takeoff: remove set loiter logic, as it is handled in loiter.cpp already (#24454)

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-03-12 13:05:47 +01:00
committed by GitHub
parent a1f363aa00
commit 8547ebb863
1 changed files with 0 additions and 19 deletions
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src/modules/navigator/takeoff.cpp
-19
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@@ -69,25 +69,6 @@ Takeoff::on_active()
_navigator->get_mission_result()->finished = true; _navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated(); _navigator->set_mission_result_updated();
_navigator->mode_completed(getNavigatorStateId()); _navigator->mode_completed(getNavigatorStateId());
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// set loiter item so position controllers stop doing takeoff logic
if (_navigator->get_land_detected()->landed) {
_mission_item.nav_cmd = NAV_CMD_IDLE;
} else {
if (pos_sp_triplet->current.valid) {
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else {
setLoiterItemFromCurrentPosition(&_mission_item);
}
}
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
} }
} }