Navigator: land: set lat/lon fields of triplet to NAN if global posit…

…ion is not valid Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Oct 31, 2024 · aa25964 · aa25964
1 parent 53dda35
commit aa25964
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -827,8 +827,15 @@ MissionBlock::set_land_item(struct mission_item_s *item)
 	item->nav_cmd = NAV_CMD_LAND;
 
 	// set land item to current position
-	item->lat = _navigator->get_global_position()->lat;
-	item->lon = _navigator->get_global_position()->lon;
+	if (_navigator->get_local_position()->xy_global) {
+		item->lat = _navigator->get_global_position()->lat;
+		item->lon = _navigator->get_global_position()->lon;
+
+	} else {
+		item->lat = (double)NAN;
+		item->lon = (double)NAN;
+	}
+
 	item->yaw = NAN;
 
 	item->altitude = 0;