From 8551d2eb9d6846e32565722f8a669f4dcf190ecc Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Sun, 24 Jun 2018 04:03:17 -0500 Subject: [PATCH] mission feasibility: add small tolerance to fw landing slope alt --- src/modules/navigator/mission_feasibility_checker.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 12a75af21b..9c2d6b7e6c 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -411,8 +411,8 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool const float slope_alt_req = Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, missionitem.altitude, horizontal_slope_displacement, slope_angle_rad); - if (missionitem_previous.altitude > slope_alt_req) { - /* Landing waypoint is above altitude of slope at the given waypoint distance */ + if (missionitem_previous.altitude > slope_alt_req + 1.0f) { + /* Landing waypoint is above altitude of slope at the given waypoint distance (with small tolerance for floating point discrepancies) */ mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: adjust landing approach."); const float wp_distance_req = Landingslope::getLandingSlopeWPDistance(missionitem_previous.altitude,