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navigator: mission_block relax yaw acceptance if heading not good for control

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Daniel Agar
2022-05-13 09:37:26 -04:00
parent 57a0289627
commit a3605b4bc8
1 changed files with 2 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -367,7 +367,8 @@ MissionBlock::is_mission_item_reached()
/* accept yaw if reached or if timeout is set in which case we ignore not forced headings */
if (fabsf(yaw_err) < _navigator->get_yaw_threshold()
|| (_navigator->get_yaw_timeout() >= FLT_EPSILON && !_mission_item.force_heading)) {
|| (_navigator->get_yaw_timeout() >= FLT_EPSILON && !_mission_item.force_heading)
|| !_navigator->get_local_position()->heading_good_for_control) {
_waypoint_yaw_reached = true;
}