From dcacefb0d3db12536417982ba10c8ca7ebd35c23 Mon Sep 17 00:00:00 2001 From: sander Date: Sun, 27 Mar 2016 00:34:49 +0100 Subject: [PATCH] Ignore position for VTOL_TAKEOFF --- src/modules/navigator/mission_block.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 809ddbb5e0..78683c97e5 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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()) {