From b220e742196da23768b943aa4691dcb725987ee4 Mon Sep 17 00:00:00 2001 From: Martina Date: Thu, 20 Sep 2018 09:18:27 +0200 Subject: [PATCH] navigator_main: add comment to explain yaw_acceptance usage --- src/modules/navigator/navigator_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index e4707f951e..e63a125209 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -962,6 +962,8 @@ Navigator::get_yaw_acceptance(float mission_item_yaw) const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get(); + // if yaw_acceptance from position controller is NaN overwrite the mission item yaw such that + // the waypoint can be reached from any direction if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && !PX4_ISFINITE(pos_ctrl_status.yaw_acceptance)) { yaw = pos_ctrl_status.yaw_acceptance; }