navigator: added parameter for acceptance radius for take-off mission items

1 files changed, 10 insertions, 4 deletions

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 861aed813..08576750c 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -102,13 +102,19 @@ MissionBlock::is_mission_item_reached()
 							  _navigator_priv->get_global_position()->alt,
 				&dist_xy, &dist_z);
 
-		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
-
-			/* require only altitude for takeoff */
-			if (_navigator_priv->get_global_position()->alt > altitude_amsl - _mission_item.acceptance_radius) {
+		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) {
+			/* require only altitude for takeoff for multicopter */
+			if (_navigator_priv->get_global_position()->alt >
+				altitude_amsl - _navigator_priv->get_takeoff_acceptance_radius()) {
+				_waypoint_position_reached = true;
+			}
+		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+			/* for takeoff mission items use the parameter for the takeoff acceptance radius */
+			if (dist >= 0.0f && dist <= _navigator_priv->get_takeoff_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
 		} else {
+			/* for normal mission items used their acceptance radius */
 			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
 				_waypoint_position_reached = true;
 			}