dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/navigator/mission_block.cpp
View File

@ -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) {