forked from Archive/PX4-Autopilot
Revert altitude acceptance radius to combat overshoot
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@ -166,7 +166,8 @@ MissionBlock::is_mission_item_reached()
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if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
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&& _navigator->get_vstatus()->is_rotary_wing) {
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/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
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if (_navigator->get_global_position()->alt >= altitude_amsl) {
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if (_navigator->get_global_position()->alt >
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altitude_amsl - _navigator->get_acceptance_radius()) {
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_waypoint_position_reached = true;
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}
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} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
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