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flight task auto: fix offtrack mission landing bug #25725

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flight task auto: fix offtrack mission landing bug #25725

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4 changes: 2 additions & 2 deletions src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -612,6 +612,7 @@ State FlightTaskAuto::_getCurrentState()
const Vector3f u_prev_to_target = (_triplet_target - _triplet_prev_wp).unit_or_zero();
const Vector3f prev_to_pos = _position - _triplet_prev_wp;
const Vector3f pos_to_target = _triplet_target - _position;

// Calculate the closest point to the vehicle position on the line prev_wp - target
_closest_pt = _triplet_prev_wp + u_prev_to_target * (prev_to_pos * u_prev_to_target);

Expand All @@ -629,10 +630,9 @@ State FlightTaskAuto::_getCurrentState()
// Previous is in front
return_state = State::previous_infront;

} else if ((_position - _closest_pt).longerThan(_target_acceptance_radius)) {
} else if (_type != WaypointType::land && (_position - _closest_pt).longerThan(_target_acceptance_radius)) {
// Vehicle too far from the track
return_state = State::offtrack;

}

return return_state;
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