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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-26 07:56:54 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-26 07:56:54 +0100 |
commit | 6200a3e3a5f24f40ff9da8b3fb366b7014656941 (patch) | |
tree | 5fc03991b903894d869125af757954de92331279 /src/modules/navigator/mission_block.cpp | |
parent | 034d0a6a610c8838d6c43b51a4401ce818b77624 (diff) | |
parent | cbcd1ea1d143dfddd2331fb14d17d7be48fa8b6f (diff) | |
download | px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.tar.gz px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.tar.bz2 px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.zip |
Added TeraRanger one sensor
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
-rw-r--r-- | src/modules/navigator/mission_block.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 4adf77dce..723caec7c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached() if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) { _waypoint_position_reached = true; } + } else if (!_navigator->get_vstatus()->is_rotary_wing && + (_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || + _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. 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) { |