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navigator: fix loiter_time for FW missions

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David Jablonski
2020-04-25 09:13:09 -04:00
committed by GitHub
parent 75fe3bee8c
commit a0f5002685
1 changed files with 4 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+4 -1
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@@ -224,7 +224,10 @@ MissionBlock::is_mission_item_reached()
* Therefore the item is marked as reached once the system reaches the loiter
* radius (+ some margin). Time inside and turn count is handled elsewhere.
*/
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f)
float radius = (fabsf(_mission_item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius();
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(radius) * 1.2f)
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
_waypoint_position_reached = true;