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Remove acceptance radius from takeoff altitude for MC

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sander 2016-07-28 21:01:56 +02:00 committed by Lorenz Meier
parent e4f20f98cd
commit 2bca19fc5e
1 changed files with 1 additions and 2 deletions
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3
src/modules/navigator/mission_block.cpp
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@ -166,8 +166,7 @@ MissionBlock::is_mission_item_reached()
if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
&& _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
if (_navigator->get_global_position()->alt >
altitude_amsl - _navigator->get_altitude_acceptance_radius()) {
if (_navigator->get_global_position()->alt >= altitude_amsl) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {