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[fix] Making altitude acceptance radius equal to infinity

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[fix] Adding boat condition for NAV_CMD_TAKEOFF
This commit is contained in:
Tomas Twardzik
2025-02-12 11:10:28 +01:00
parent f72845e0c1
commit 59c25aa26b
2 changed files with 5 additions and 3 deletions
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src/modules/navigator/mission_block.cpp
+3 -2
View File
@@ -206,8 +206,9 @@ MissionBlock::is_mission_item_reached_or_completed()
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF &&
(_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER ||
_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)) {
// Accept takeoff waypoint to be reached if the distance in 2D plane is within acceptance radius
if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
src/modules/navigator/navigator_main.cpp
+2 -1
View File
@@ -1139,7 +1139,8 @@ float Navigator::get_altitude_acceptance_radius()
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
return INFINITY;
} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) {
return INFINITY;
} else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();