From 4c35b3aadc62407bb5b5403714fb3dbfeb5e9826 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Fri, 6 Dec 2019 14:34:33 +0100 Subject: [PATCH] navigator: do not use fixed wing acceptance readius if in rotary wing mode Signed-off-by: RomanBapst --- src/modules/navigator/navigator_main.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 47cf2d115e..84992bd4a0 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -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; }