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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-05 10:18:25 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-05 10:18:51 +0200 |
| commit | 0a6267e010a1401ba111d5477c26a0b8ff17ffea (patch) | |
| tree | a1d284842e8213543e6a16e9ad993e35885dec30 /src | |
| parent | d7f93f4ece19a4244cacf0227d0818f418a0f214 (diff) | |
| download | px4-firmware-0a6267e010a1401ba111d5477c26a0b8ff17ffea.tar.gz px4-firmware-0a6267e010a1401ba111d5477c26a0b8ff17ffea.tar.bz2 px4-firmware-0a6267e010a1401ba111d5477c26a0b8ff17ffea.zip | |
update comment
Diffstat (limited to 'src')
| -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 157a1cf71..723caec7c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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) { |