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Stop publishing setpoints when land called

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This commit is contained in:
Oleg Kalachev
2022-12-20 13:39:57 +03:00
parent 6474a61544
commit da4c722a70
1 changed files with 3 additions and 1 deletions
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4
clover/src/simple_offboard.cpp
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@@ -1036,7 +1036,9 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
r.sleep();
}
// invalidate position setpoint
// stop setpoints and invalidate position setpoint
setpoint_timer.stop();
setpoint_type = NONE;
setpoint_position.header.frame_id = "";
setpoint_altitude.header.frame_id = "";
yaw_frame_id = "";