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navigator fix FW loiter to alt tangent exit (#11576) 

- fixes #11317
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Daniel Agar 2019-03-03 22:22:32 -05:00 committed by GitHub
parent fc7c7ac206
commit 468fb53459
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1 changed files with 3 additions and 3 deletions
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6
src/modules/navigator/mission_block.cpp
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@ -328,9 +328,9 @@ MissionBlock::is_mission_item_reached()
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
if ((_navigator->get_vstatus()->is_rotary_wing
|| (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading))
&& PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) {
if ((_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw)))
|| ((_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) && _mission_item.force_heading
&& PX4_ISFINITE(_mission_item.yaw))) {
/* check course if defined only for rotary wing except takeoff */
float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(