Navigator: same logic for VTOL_TAKEOFF as for TAKEOFF (#22519)

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Dec 11, 2023 · 43ba199 · 43ba199
1 parent a536e3d
commit 43ba199
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -694,6 +694,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 		break;
 
 	case NAV_CMD_TAKEOFF:
+	case NAV_CMD_VTOL_TAKEOFF:
 
 		// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
 		if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
@@ -707,10 +708,6 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 
 		break;
 
-	case NAV_CMD_VTOL_TAKEOFF:
-		sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
-		break;
-
 	case NAV_CMD_LAND:
 	case NAV_CMD_VTOL_LAND:
 		sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;