From a9cb2d2fbed5421e9297fbb2ab86c3fb12ef81e4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 17 Jul 2016 15:25:26 -0400 Subject: [PATCH] navigator mission don't report loiter if landed --- src/modules/navigator/mission.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index ad350be3ee..3dd79ef419 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -388,13 +388,18 @@ Mission::set_mission_items() } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ - mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, loitering"); - user_feedback_done = true; - /* use last setpoint for loiter */ - _navigator->set_can_loiter_at_sp(true); + if (_navigator->get_land_detected()->landed) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, landed"); + } else { + /* https://en.wikipedia.org/wiki/Loiter_(aeronautics) */ + mavlink_log_critical(_navigator->get_mavlink_log_pub(), "mission finished, loitering"); + /* use last setpoint for loiter */ + _navigator->set_can_loiter_at_sp(true); + } + + user_feedback_done = true; } _mission_type = MISSION_TYPE_NONE;