From 6021b8efb3acfbe28869262a2fa4e3b579d4ba4e Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 15 Dec 2021 11:32:18 +0100 Subject: [PATCH] navigator: only apply breaking for multirotors --- src/modules/navigator/loiter.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 4b0a90a3a2..0d1808f13b 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -110,7 +110,12 @@ Loiter::set_loiter_position() setLoiterItemFromCurrentPositionSetpoint(&_mission_item); } else { - setLoiterItemFromCurrentPositionWithBreaking(&_mission_item); + if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + setLoiterItemFromCurrentPositionWithBreaking(&_mission_item); + + } else { + setLoiterItemFromCurrentPosition(&_mission_item); + } } }