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Merge pull request #806 from PX4/yaw_sp_fix 

navigator hotfix: Increase acceptance range for yaw setpoints.
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Lorenz Meier 2014-04-05 08:12:56 -07:00
parent e6d48c4f32 7b95d36405
commit 3e5f0813a8
1 changed files with 1 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
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@ -1539,7 +1539,7 @@ Navigator::check_mission_item_reached()
/* check yaw if defined only for rotary wing except takeoff */ /* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */
_waypoint_yaw_reached = true; _waypoint_yaw_reached = true;
} }