From 37d4f714b2c067ebfac8261d986ced9f6d749086 Mon Sep 17 00:00:00 2001
From: ChristophTobler <christoph@px4.io>
Date: Fri, 20 Jul 2018 16:15:41 +0200
Subject: [PATCH] FlightTaskStraightLine: replace define with parameter

---
 src/lib/FlightTasks/tasks/Utility/StraightLine.cpp | 3 +--
 src/lib/FlightTasks/tasks/Utility/StraightLine.hpp | 3 ++-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
index fc3eeb9eef..a13a8060e5 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
@@ -39,7 +39,6 @@
 #include <mathlib/mathlib.h>
 #include <float.h>
 
-#define ACC_RAD_ZERO_VEL 2.0f
 #define VEL_ZERO_THRESHOLD 0.001f
 #define DECELERATION_MAX 8.0f
 
@@ -56,7 +55,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
 {
 	// Check if target position has been reached
 	if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
-				   (_pos - _target).length() < ACC_RAD_ZERO_VEL)) {
+				   (_pos - _target).length() < NAV_ACC_RAD.get())) {
 		// Vehicle has reached target. Lock position
 		position_setpoint = _target;
 		velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
index d33d3027bd..131fb96d96 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
@@ -104,7 +104,8 @@ private:
 		(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,  /**< maximum vertical acceleration downwards*/
 		(ParamFloat<px4::params::MPC_XY_VEL_MAX>)   MPC_XY_VEL_MAX,    /**< maximum horizontal velocity */
 		(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,  /**< maximum vertical velocity upwards */
-		(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN   /**< maximum vertical velocity downwards */
+		(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,  /**< maximum vertical velocity downwards */
+		(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD             /**< acceptance radius if a waypoint is reached */
 	)
 
 };