From 52eb49ba0bd1ea5a05845350f1b3c46f0b059a39 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 27 Jun 2014 11:09:49 +0200 Subject: navigator: use common "acceptance radius" parameter for all modes --- src/modules/navigator/mission_block.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/navigator/mission_block.cpp') diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 8ef7be449..4f177d76e 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -100,12 +100,12 @@ MissionBlock::is_mission_item_reached() if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) { /* require only altitude for takeoff for multicopter */ if (_navigator_priv->get_global_position()->alt > - altitude_amsl - _navigator_priv->get_takeoff_acceptance_radius()) { + altitude_amsl - _navigator_priv->get_acceptance_radius()) { _waypoint_position_reached = true; } } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) { /* for takeoff mission items use the parameter for the takeoff acceptance radius */ - if (dist >= 0.0f && dist <= _navigator_priv->get_takeoff_acceptance_radius()) { + if (dist >= 0.0f && dist <= _navigator_priv->get_acceptance_radius()) { _waypoint_position_reached = true; } } else { -- cgit v1.2.3