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Remove acceptance radius from takeoff altitude for MC

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sander
2016-07-30 11:43:52 +02:00
committed by Lorenz Meier
parent e4f20f98cd
commit 2bca19fc5e
1 changed files with 1 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+1 -2
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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) if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
&& _navigator->get_vstatus()->is_rotary_wing) { && _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */ /* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
if (_navigator->get_global_position()->alt > if (_navigator->get_global_position()->alt >= altitude_amsl) {
altitude_amsl - _navigator->get_altitude_acceptance_radius()) {
_waypoint_position_reached = true; _waypoint_position_reached = true;
} }
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {