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Handle takeoff waypoints for rover

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Fix
This commit is contained in:
Jaeyoung-Lim
2020-11-28 16:18:33 +01:00
committed by Lorenz Meier
parent 1d1fbdb1d3
commit d59ba2032f
1 changed files with 7 additions and 0 deletions
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src/modules/navigator/mission_block.cpp
+7
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@@ -174,6 +174,13 @@ MissionBlock::is_mission_item_reached()
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
/* for takeoff mission items use the parameter for the takeoff acceptance radius */
if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* for takeoff mission items use the parameter for the takeoff acceptance radius */
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()