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use system specific acceptance radius for multirotor takeoff, ignore mission item

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This commit is contained in:
Andreas Antener
2016-02-06 21:12:02 +01:00
committed by Lorenz Meier
parent 9583ff1b8b
commit 248bbcb520
1 changed files with 2 additions and 10 deletions
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src/modules/navigator/mission_block.cpp
+2 -10
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@@ -141,17 +141,9 @@ MissionBlock::is_mission_item_reached()
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter */
/* _mission_item.acceptance_radius is not always set */
float mission_acceptance_radius = _mission_item.acceptance_radius;
/* if set to zero use the default instead */
if (mission_acceptance_radius < NAV_EPSILON_POSITION) {
mission_acceptance_radius = _navigator->get_acceptance_radius();
}
/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
if (_navigator->get_global_position()->alt >
altitude_amsl - mission_acceptance_radius) {
altitude_amsl - _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {