FW Pos C: set position_sp type to position during VTOL backtransition

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
3 years ago · 81b08a0168
1 changed files with 2 additions and 2 deletions
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@ -1093,9 +1093,9 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
				@@ -1093,9 +1093,9 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
 		}
 	}

-	// set to type loiter during VTOL transitions in Land mode (to not start FW landing logic)
+	// set to type position during VTOL transitions in Land mode (to not start FW landing logic)
 	if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND && _vehicle_status.in_transition_mode) {
-		position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER;
+		position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 	}

 	return position_sp_type;