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minimum clearance for separate takeoff item needs to be bigger than acceptance radius

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This commit is contained in:
Andreas Antener
2016-02-06 21:37:14 +01:00
committed by Lorenz Meier
parent 248bbcb520
commit 48ea0230e1
1 changed files with 5 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+5 -2
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@@ -354,14 +354,17 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance,
if (min_clearance > 0.0f) {
item->altitude += min_clearance;
/* we must takeoff to a point further above ground than the acceptance radius */
if (_navigator->get_acceptance_radius() > min_clearance) {
item->altitude += _navigator->get_acceptance_radius();
}
}
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
(min_clearance / 2) : _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = min_pitch;
item->autocontinue = false;