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Merge branch 'fw_autoland_att_tecs_navigator' of https://github.com/thomasgubler/Firmware_Private into fw_autoland_att_tecs_navigator

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This commit is contained in:
Julian Oes
2013-11-26 15:55:09 +01:00
parent 8e1af68bfd 254777d38a
commit 972ca7db8a
2 changed files with 14 additions and 11 deletions
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src/modules/navigator/navigator_main.cpp
+3 -2
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@@ -963,13 +963,14 @@ Navigator::check_mission_item_reached()
uint64_t now = hrt_absolute_time();
float orbit;
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) {
orbit = _mission_item_triplet.current.radius;
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED &&
_mission_item_triplet.current.loiter_radius > 0.01f) {
orbit = _mission_item_triplet.current.loiter_radius;
} else {