Navigator: yaw error from param and pos_ctl_status.acceptence_rad checks before using

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-10-22 04:53:34 +08:00 · 2021-01-29 19:36:59 +01:00
parent 4d6749edc2
commit 85d8e74609
2 changed files with 10 additions and 8 deletions
@@ -391,7 +391,7 @@ MissionBlock::is_mission_item_reached()
 				}


-				if (fabsf(yaw_err) < 0.1f) { //accept heading for exit if below 0.1 rad error (5.7deg)
+				if (fabsf(yaw_err) < _navigator->get_yaw_threshold()) {
 					exit_heading_reached = true;
 				}