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[1.13] VTOL takeoff problem hotfix #20568

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merged 2 commits into from
Nov 11, 2022
Merged

[1.13] VTOL takeoff problem hotfix #20568

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140d32c
mission_block: minimal acceptance radius of 1mm
MaEtUgR Sep 1, 2022
e3c7f9a
mission_block: explicitly (re)set the acceptance radius to default fo…
MaEtUgR Sep 1, 2022
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3 changes: 2 additions & 1 deletion src/modules/navigator/mission_block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -600,7 +600,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
_navigator->get_loiter_radius();
sp->loiter_direction = (item.loiter_radius > 0) ? 1 : -1;

if (item.acceptance_radius > 0.0f && PX4_ISFINITE(item.acceptance_radius)) {
if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) {
// if the mission item has a specified acceptance radius, overwrite the default one from parameters
sp->acceptance_radius = item.acceptance_radius;

Expand Down Expand Up @@ -729,6 +729,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude)
item->altitude = abs_altitude;
item->altitude_is_relative = false;

item->acceptance_radius = _navigator->get_acceptance_radius();
item->loiter_radius = _navigator->get_loiter_radius();
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
Expand Down