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Merge branch 'loiteracceptance' into obcfailsafe

This commit is contained in:
Thomas Gubler 2014-09-05 10:19:08 +02:00
parent eec6777585 0a6267e010
commit f62be0eebd
1 changed files with 2 additions and 2 deletions
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4
src/modules/navigator/mission_block.cpp
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@ -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_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) { _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) {
/* Loiter mission item on a non rotary wing: the aircraft is going to circle the /* 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 * Therefore the item is marked as reached once the system reaches the loiter
* radius (+ some margin). Time inside and turn count is handled elsewhere. * radius (+ some margin). Time inside and turn count is handled elsewhere.
*/ */
if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) { if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) {
_waypoint_position_reached = true; _waypoint_position_reached = true;
} }
} else { } else {
/* for normal mission items used their acceptance radius */ /* for normal mission items used their acceptance radius */
if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) { if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {