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Don't allow yaw updates during transition

sbg
sander 9 years ago committed by Lorenz Meier
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1 changed files with 2 additions and 0 deletions
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  1. 2
      src/modules/navigator/mission.cpp

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src/modules/navigator/mission.cpp
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@ -770,6 +770,8 @@ Mission::heading_sp_update()
{ {
/* we don't want to be yawing during takeoff, landing or aligning for a transition */ /* we don't want to be yawing during takeoff, landing or aligning for a transition */
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
|| _mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) { || _work_item_type == WORK_ITEM_TYPE_ALIGN) {

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