From 3307c71e6dfed54ccb9ba954c8ec980a975cf76e Mon Sep 17 00:00:00 2001 From: sander Date: Mon, 11 Apr 2016 11:41:26 +0200 Subject: [PATCH] Additional yaw handling on land --- src/modules/navigator/mission_block.cpp | 1 - src/modules/navigator/rtl.cpp | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index c4e50370b5..e2af064cf6 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -548,7 +548,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio item->altitude = 0; item->altitude_is_relative = false; - item->yaw = NAN; item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_direction = 1; item->acceptance_radius = _navigator->get_acceptance_radius(); diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 38ef79a9ca..62bc19b061 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -267,6 +267,7 @@ RTL::set_rtl_item() } case RTL_STATE_LAND: { + _mission_item.yaw = _navigator->get_home_position()->yaw; set_land_item(&_mission_item, false); mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: land at home");