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navigator: is_mission_item_reached() for LOITER items fixed

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Anton Babushkin
2014-06-27 00:29:00 +02:00
parent 9ae44291b1
commit 1bae18377a
1 changed files with 2 additions and 7 deletions
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src/modules/navigator/mission_block.cpp
+2 -7
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@@ -74,15 +74,10 @@ MissionBlock::is_mission_item_reached()
}
/* TODO: count turns */
#if 0
if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item.loiter_radius > 0.01f) {
if ((/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
return false;
}
#endif
hrt_abstime now = hrt_absolute_time();