From 1bae18377a444279f91b75281ffde5da70cc6086 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 27 Jun 2014 00:29:00 +0200
Subject: [PATCH] navigator: is_mission_item_reached() for LOITER items fixed

---
 src/modules/navigator/mission_block.cpp | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 5e545706d1..8ef7be4496 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -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();