diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index b991ffc8c..f91032196 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -674,11 +674,10 @@ Navigator::check_mission_item_reached() return _vstatus.condition_landed; } - /* TODO: count turns */ - // if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - // _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - // _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && - // _mission_item.loiter_radius > 0.01f) { + /* XXX TODO count turns */ + if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) && + _mission_item.loiter_radius > 0.01f) { // return false; // } @@ -695,24 +694,26 @@ Navigator::check_mission_item_reached() acceptance_radius = _parameters.acceptance_radius; } - float dist = -1.0f; - float dist_xy = -1.0f; - float dist_z = -1.0f; - - float altitude_amsl = _mission_item.altitude_is_relative - ? _mission_item.altitude + _home_pos.alt : _mission_item.altitude; - - dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl, - _global_pos.lat, _global_pos.lon, _global_pos.alt, - &dist_xy, &dist_z); - - if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { - + if (_do_takeoff) { /* require only altitude for takeoff */ - if (_global_pos.alt > altitude_amsl - acceptance_radius) { + if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) { _waypoint_position_reached = true; } } else { + float dist = -1.0f; + float dist_xy = -1.0f; + float dist_z = -1.0f; + + /* calculate AMSL altitude for this waypoint */ + float wp_alt_amsl = _mission_item.altitude; + + if (_mission_item.altitude_is_relative) + wp_alt_amsl += _home_pos.alt; + + dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl, + (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt, + &dist_xy, &dist_z); + if (dist >= 0.0f && dist <= acceptance_radius) { _waypoint_position_reached = true; } @@ -765,7 +766,6 @@ Navigator::reset_reached() _waypoint_yaw_reached = false; } -#endif void Navigator::publish_position_setpoint_triplet() { |