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Revert altitude acceptance radius to combat overshoot

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sander
2016-08-14 16:33:20 +02:00
committed by Andreas Antener
parent f1a1c9d7da
commit 7afa21ebb7
1 changed files with 2 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -166,7 +166,8 @@ MissionBlock::is_mission_item_reached()
if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
&& _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
if (_navigator->get_global_position()->alt >= altitude_amsl) {
if (_navigator->get_global_position()->alt >
altitude_amsl - _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {