From 1b671877708098b7c803b940f4a52402bcc64db9 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 28 May 2021 14:58:08 +0200 Subject: [PATCH] navigator: protect against 0 acceptance radius This seems to slip in e.g. as part of the VTOL_LAND command. --- 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 8f651d6a54..3484105d70 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -283,7 +283,7 @@ MissionBlock::is_mission_item_reached() // We use the acceptance radius of the mission item if it has been set (not NAN) // but only for multicopter. if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING - && PX4_ISFINITE(_mission_item.acceptance_radius)) { + && PX4_ISFINITE(_mission_item.acceptance_radius) && _mission_item.acceptance_radius > FLT_EPSILON) { acceptance_radius = _mission_item.acceptance_radius; }