fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 02:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: Use the controller radius also as lower bound for mission items

Browse Source
This commit is contained in:
Lorenz Meier
2015-06-08 16:48:50 +02:00
parent 0f3438eb17
commit b2a694f71d
3 changed files with 24 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+2 -2
View File
@@ -123,12 +123,12 @@ 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 <= _mission_item.loiter_radius * 1.2f) {
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.loiter_radius * 1.2f)) {
_waypoint_position_reached = true;
}
} else {
/* for normal mission items used their acceptance radius */
if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.acceptance_radius)) {
_waypoint_position_reached = true;
}
}