FlightTaskOrbit: reset approach if radius gets changed

PX4 · Jul 8, 2020 · 76ee312 · 76ee312
1 parent 09ab15b
commit 76ee312
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -121,6 +121,10 @@ bool FlightTaskOrbit::setRadius(float r)
 		_v = sign(_v) * sqrtf(_acceleration_max * r);
 	}
 
+	if (fabs(_r - r) > FLT_EPSILON) {
+		_circle_approach_line.reset();
+	}
+
 	_r = r;
 	return true;
 }