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navigator: do not use fixed wing acceptance readius if in rotary wing mode

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-12-06 14:34:33 +01:00
committed by Daniel Agar
parent 2e7221cd22
commit 4c35b3aadc
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+3 -1
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@@ -862,7 +862,9 @@ Navigator::get_acceptance_radius(float mission_item_radius)
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && pos_ctrl_status.acceptance_radius > radius) {
if (_vstatus.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.acceptance_radius > radius) {
radius = pos_ctrl_status.acceptance_radius;
}