From e6834579e57f513901570d3b4ce9e25c58298b66 Mon Sep 17 00:00:00 2001 From: sander Date: Sun, 14 Aug 2016 16:35:03 +0200 Subject: [PATCH] Use altitude acc rad --- src/modules/navigator/mission_block.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 1fcb0f4098..21dfb4b19c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -165,9 +165,9 @@ MissionBlock::is_mission_item_reached() 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 */ + /* require only altitude for takeoff for multicopter */ if (_navigator->get_global_position()->alt > - altitude_amsl - _navigator->get_acceptance_radius()) { + altitude_amsl - _navigator->get_altitude_acceptance_radius()) { _waypoint_position_reached = true; } } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {