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navigator: check if yaw reached only when position reached

This commit is contained in:
Anton Babushkin 2014-02-18 19:05:32 +04:00
parent a43c7c488e
commit 7d8f08ad9a
1 changed files with 1 additions and 1 deletions
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2
src/modules/navigator/navigator_main.cpp
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@ -1533,7 +1533,7 @@ Navigator::check_mission_item_reached()
} }
} }
if (!_waypoint_yaw_reached) { if (_waypoint_position_reached && !_waypoint_yaw_reached) {
if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) { if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) {
/* 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);