From 0a6267e010a1401ba111d5477c26a0b8ff17ffea Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 5 Sep 2014 10:18:25 +0200 Subject: [PATCH] update comment --- src/modules/navigator/mission_block.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 157a1cf712..723caec7ce 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -118,14 +118,14 @@ MissionBlock::is_mission_item_reached() _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) { /* Loiter mission item on a non rotary wing: the aircraft is going to circle the - * coordinates with a radius equal to the loiter_radius field + * coordinates with a radius equal to the loiter_radius field. It is not flying + * through the waypoint center. * Therefore the item is marked as reached once the system reaches the loiter * radius (+ some margin). Time inside and turn count is handled elsewhere. */ if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) { _waypoint_position_reached = true; } - } else { /* for normal mission items used their acceptance radius */ if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {