From 7d8f08ad9a733111a9d8b1512a85592a2fb9b045 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 18 Feb 2014 19:05:32 +0400 Subject: [PATCH] navigator: check if yaw reached only when position reached --- src/modules/navigator/navigator_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index af1b9aac02..4cd60d8d89 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1533,7 +1533,7 @@ Navigator::check_mission_item_reached() } } - if (!_waypoint_yaw_reached) { + if (_waypoint_position_reached && !_waypoint_yaw_reached) { if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) { /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);