wip

Hwurzburg · Nov 26, 2024 · 6f02b50 · 6f02b50
1 parent 3a47dc2
commit 6f02b50
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp
@@ -45,13 +45,13 @@ bool ModeAutoLand::_enter()
     plane.next_WP_loc.alt = home.alt + final_wp_alt*100;
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.content.location = plane.next_WP_loc;
+    plane.start_command(cmd);
     land_started = false;
     return true;
 }
 
 void ModeAutoLand::update()
 {
-    plane.set_target_altitude_location(plane.next_WP_loc);
     plane.calc_nav_roll();
     plane.calc_nav_pitch();
     plane.calc_throttle();
@@ -65,6 +65,7 @@ void ModeAutoLand::navigate()
             cmd.id = MAV_CMD_NAV_LAND;
             cmd.content.location = home_loc;
             land_started = true;
+            plane.prev_WP_loc = plane.current_loc;
             plane.start_command(cmd);
         }
         return;