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Mission block: do not care for altitdue acceptance when approaching backtransition point

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Not accepting the waypoint causes the vehicle to perform a sharp turn after passing
the land waypoint and this causes worse unexected behavior.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-10-12 13:46:41 +03:00 committed by Silvan Fuhrer
parent 3d50adc5fe
commit 8e8c6efd66
1 changed files with 7 additions and 1 deletions
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8
src/modules/navigator/mission_block.cpp
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@ -287,6 +287,8 @@ MissionBlock::is_mission_item_reached()
acceptance_radius = _mission_item.acceptance_radius;
}
float alt_acc_rad_m = _navigator->get_altitude_acceptance_radius();
/* for vtol back transition calculate acceptance radius based on time and ground speed */
if (_mission_item.vtol_back_transition
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
@ -302,10 +304,14 @@ MissionBlock::is_mission_item_reached()
}
// do not care for altitude when approaching the backtransition point. Not accepting the waypoint causes
// the vehicle to perform a sharp turn after passing the land waypoint and this causes worse unexected behavior
alt_acc_rad_m = INFINITY;
}
if (dist_xy >= 0.0f && dist_xy <= acceptance_radius
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
&& dist_z <= alt_acc_rad_m) {
_waypoint_position_reached = true;
}
}