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Diffstat (limited to 'src/modules/navigator/mission.cpp')
| -rw-r--r-- | src/modules/navigator/mission.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 7000dd6c0..b33b2049f 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -502,8 +502,10 @@ Mission::altitude_sp_foh_update() float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); - /* Save distance to waypoint if it is the smallest ever achieved */ - _min_current_sp_distance_xy = math::min(d_current, _min_current_sp_distance_xy); + /* Save distance to waypoint if it is the smallest ever achieved, however make sure that + * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */ + _min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy), + _distance_current_previous); /* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */ |