fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 09:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: use common "acceptance radius" parameter for all modes

Browse Source
This commit is contained in:
Anton Babushkin
2014-06-27 11:09:49 +02:00
parent 1bae18377a
commit 52eb49ba0b
7 changed files with 15 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+2 -2
View File
@@ -100,12 +100,12 @@ MissionBlock::is_mission_item_reached()
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter */
if (_navigator_priv->get_global_position()->alt >
altitude_amsl - _navigator_priv->get_takeoff_acceptance_radius()) {
altitude_amsl - _navigator_priv->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* for takeoff mission items use the parameter for the takeoff acceptance radius */
if (dist >= 0.0f && dist <= _navigator_priv->get_takeoff_acceptance_radius()) {
if (dist >= 0.0f && dist <= _navigator_priv->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else {