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add safety check for orbit in navigator. Prevents issues with old qgc versions

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Thomas Gubler
2013-11-26 15:24:16 +01:00
parent 9a79ad4cdb
commit 126b0567fe
1 changed files with 3 additions and 2 deletions
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src/modules/navigator/navigator_main.cpp
+3 -2
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@@ -952,13 +952,14 @@ Navigator::check_mission_item_reached()
uint64_t now = hrt_absolute_time(); uint64_t now = hrt_absolute_time();
float orbit; float orbit;
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) {
orbit = _mission_item_triplet.current.radius; orbit = _mission_item_triplet.current.radius;
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED &&
_mission_item_triplet.current.loiter_radius > 0.01f) {
orbit = _mission_item_triplet.current.loiter_radius; orbit = _mission_item_triplet.current.loiter_radius;
} else { } else {