From b825b61a20745eb4a673b0a9022fa23cd8f9af37 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 1 Sep 2022 22:14:23 +0200 Subject: [PATCH] mission_block: minimal acceptance radius of 1mm to avoid float rounding errors leading to tiny acceptance radii getting considered --- src/modules/navigator/mission_block.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 91fd3e3cd5..f37fce72ed 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -688,7 +688,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi _navigator->get_loiter_radius(); sp->loiter_direction = math::signNoZero(item.loiter_radius); - if (item.acceptance_radius > 0.0f && PX4_ISFINITE(item.acceptance_radius)) { + if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) { // if the mission item has a specified acceptance radius, overwrite the default one from parameters sp->acceptance_radius = item.acceptance_radius;