From 06b496e2578957ee73cfe4c013f2fe264d757e58 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 Jan 2016 14:08:41 +0100 Subject: [PATCH] Navigator: Only set acceptance radius based on navigation capabilities for fixed wing flight. --- src/modules/navigator/navigator_main.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index b16f9b9b91..2bba051573 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -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; }