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also don't reset possp if near a loiter sp

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This commit is contained in:
Andreas Antener
2015-12-28 15:23:20 +01:00
committed by Lorenz Meier
parent ee0aa7b37d
commit e0405617ef
1 changed files with 2 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -1073,7 +1073,8 @@ void MulticopterPositionControl::control_auto(float dt)
* if we're already near the current takeoff setpoint don't reset in case we switch back to posctl.
* this makes the takeoff finish smoothly.
*/
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF
if ((_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF
|| _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER)
&& _pos_sp_triplet.current.acceptance_radius > 0.0f
/* need to detect we're close a bit before the navigator switches from takeoff to next waypoint */
&& (_pos - _pos_sp).length() < _pos_sp_triplet.current.acceptance_radius * 1.2f) {