From 04cc5c5611e15bf772861fbf1d75d627256eea1d Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Thu, 24 May 2018 01:46:36 +0200 Subject: [PATCH] Navigator: VTOL only apply acceptance radius calculation for FW part of back transition (#9519) --- src/modules/navigator/mission_block.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 044ce7efa4..8b42ebb54d 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -287,7 +287,7 @@ MissionBlock::is_mission_item_reached() } /* for vtol back transition calculate acceptance radius based on time and ground speed */ - if (_mission_item.vtol_back_transition) { + if (_mission_item.vtol_back_transition && !_navigator->get_vstatus()->is_rotary_wing) { float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx + _navigator->get_local_position()->vy * _navigator->get_local_position()->vy);