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Navigator: accept yaw immedietaly if the flag heading_good_for_control is not set

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-17 10:07:58 +01:00
parent d291207b9f
commit deabe9a38d
1 changed files with 2 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -414,7 +414,8 @@ MissionBlock::is_mission_item_reached_or_completed()
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) {
&& PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))
&& _navigator->get_local_position()->heading_good_for_control) {
const float yaw_err = wrap_pi(_mission_item.yaw - _navigator->get_local_position()->heading);