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Ignore position for VTOL_TAKEOFF

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sander 2016-03-27 00:34:49 +01:00 committed by Lorenz Meier
parent a9511478f2
commit dcacefb0d3
1 changed files with 2 additions and 1 deletions
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3
src/modules/navigator/mission_block.cpp
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@ -153,7 +153,8 @@ MissionBlock::is_mission_item_reached()
_navigator->get_global_position()->alt,
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator->get_vstatus()->is_rotary_wing) {
if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
&& _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
if (_navigator->get_global_position()->alt >
altitude_amsl - _navigator->get_acceptance_radius()) {