From 468fb53459e9760f6f5a288a061a21133357872d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 3 Mar 2019 22:22:32 -0500 Subject: [PATCH] navigator fix FW loiter to alt tangent exit (#11576) - fixes #11317 --- src/modules/navigator/mission_block.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index ff5eb2d351..fa986af6d7 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -328,9 +328,9 @@ MissionBlock::is_mission_item_reached() if (_waypoint_position_reached && !_waypoint_yaw_reached) { - if ((_navigator->get_vstatus()->is_rotary_wing - || (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading)) - && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) { + if ((_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) + || ((_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) && _mission_item.force_heading + && PX4_ISFINITE(_mission_item.yaw))) { /* check course if defined only for rotary wing except takeoff */ float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(