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| author | Julian Oes <julian@oes.ch> | 2013-11-26 15:55:09 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-26 15:55:09 +0100 |
| commit | 972ca7db8a17feb7735700dbdd61e6f6a0dec4b6 (patch) | |
| tree | 25ed63af2604c5e95b95738c804b77b1a49b9fdc /src/modules/navigator | |
| parent | 8e1af68bfd5db6a97289f4406beed7854b56d5bc (diff) | |
| parent | 254777d38ae0ab30d7f8f75e49a3619aae592460 (diff) | |
| download | px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.tar.gz px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.tar.bz2 px4-firmware-972ca7db8a17feb7735700dbdd61e6f6a0dec4b6.zip | |
Merge branch 'fw_autoland_att_tecs_navigator' of https://github.com/thomasgubler/Firmware_Private into fw_autoland_att_tecs_navigator
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 45bb832ea..b85c4bef9 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -963,13 +963,14 @@ Navigator::check_mission_item_reached() uint64_t now = hrt_absolute_time(); float orbit; - if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { + if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT && _mission_item_triplet.current.radius > 0.01f) { orbit = _mission_item_triplet.current.radius; } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED && + _mission_item_triplet.current.loiter_radius > 0.01f) { orbit = _mission_item_triplet.current.loiter_radius; } else { |