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navigator: added parameter for acceptance radius for take-off mission items

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Julian Oes
2014-06-10 17:24:04 +02:00
parent 784041e0ab
commit fd1f1c81ef
4 changed files with 25 additions and 5 deletions
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src/modules/navigator/mission_block.cpp
+10 -4
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@@ -102,13 +102,19 @@ MissionBlock::is_mission_item_reached()
_navigator_priv->get_global_position()->alt,
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* require only altitude for takeoff */
if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) {
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter */
if (_navigator_priv->get_global_position()->alt >
altitude_amsl - _navigator_priv->get_takeoff_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* for takeoff mission items use the parameter for the takeoff acceptance radius */
if (dist >= 0.0f && dist <= _navigator_priv->get_takeoff_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else {
/* for normal mission items used their acceptance radius */
if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
_waypoint_position_reached = true;
}