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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 11:09:49 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 11:09:49 +0200 |
| commit | 52eb49ba0bd1ea5a05845350f1b3c46f0b059a39 (patch) | |
| tree | c2beb161dc4a8a439b6721b6e0903242c833e706 /src/modules/navigator/mission_block.cpp | |
| parent | 1bae18377a444279f91b75281ffde5da70cc6086 (diff) | |
| download | px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.tar.gz px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.tar.bz2 px4-firmware-52eb49ba0bd1ea5a05845350f1b3c46f0b059a39.zip | |
navigator: use common "acceptance radius" parameter for all modes
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 8ef7be449..4f177d76e 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -100,12 +100,12 @@ MissionBlock::is_mission_item_reached() 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()) { + altitude_amsl - _navigator_priv->get_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()) { + if (dist >= 0.0f && dist <= _navigator_priv->get_acceptance_radius()) { _waypoint_position_reached = true; } } else { |