From 26a87072983002c9cba63ee2d5c841f713645101 Mon Sep 17 00:00:00 2001 From: Dusan Zivkovic Date: Tue, 10 Mar 2020 17:01:38 +0100 Subject: [PATCH] flight task auto: set acceptance radius when setting loiter as a responce to invalid setpoint --- src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp index 91853226e9..7996e722b0 100644 --- a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp @@ -142,6 +142,7 @@ bool FlightTaskAuto::_evaluateTriplets() _type = WaypointType::loiter; _yaw_setpoint = _yaw; _yawspeed_setpoint = NAN; + _target_acceptance_radius = _sub_triplet_setpoint.get().current.acceptance_radius; _updateInternalWaypoints(); return true; }