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Navigator: Only set acceptance radius based on navigation capabilities for fixed wing flight.

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This commit is contained in:
Lorenz Meier 2016-01-24 14:08:41 +01:00
parent fb21654807
commit 06b496e257
1 changed files with 5 additions and 1 deletions
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6
src/modules/navigator/navigator_main.cpp
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@ -616,7 +616,11 @@ Navigator::get_acceptance_radius(float mission_item_radius)
{
float radius = mission_item_radius;
if (hrt_elapsed_time(&_nav_caps.timestamp) < 5000000) {
// XXX only use navigation capabilities for now
// when in fixed wing mode
// this might need locking against a commanded transition
// so that a stale _vstatus doesn't trigger an accepted mission item.
if (!_vstatus.is_rotary_wing && !_vstatus.in_transition_mode && hrt_elapsed_time(&_nav_caps.timestamp) < 5000000) {
if (_nav_caps.turn_distance > radius) {
radius = _nav_caps.turn_distance;
}