enginefailure: set mission item

src/modules/navigator/enginefailure.cpp

@@ -104,21 +104,21 @@ EngineFailure::set_ef_item()
 	case EF_STATE_LOITERDOWN: {
 		//XXX create mission item at ground (below?) here
 
-		//_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
-		//_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
-		//_mission_item.altitude_is_relative = false;
-		//_mission_item.altitude = _param_airfieldhomealt.get();
-		//_mission_item.yaw = NAN;
-		//_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		//_mission_item.loiter_direction = 1;
-		//_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-		//_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
-		//_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
-		//_mission_item.pitch_min = 0.0f;
-		//_mission_item.autocontinue = true;
-		//_mission_item.origin = ORIGIN_ONBOARD;
-
-		//_navigator->set_can_loiter_at_sp(true);
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		 //XXX setting altitude to a very low value, evaluate other options
+		_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_can_loiter_at_sp(true);
 		break;
 	}
 	default: