navigator: use common "acceptance radius" parameter for all modes

src/modules/navigator/mission_block.cpp

@@ -100,12 +100,12 @@ MissionBlock::is_mission_item_reached()
 		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) {
 			/* require only altitude for takeoff for multicopter */
 			if (_navigator_priv->get_global_position()->alt >
-				altitude_amsl - _navigator_priv->get_takeoff_acceptance_radius()) {
+				altitude_amsl - _navigator_priv->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
 		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
 			/* for takeoff mission items use the parameter for the takeoff acceptance radius */
-			if (dist >= 0.0f && dist <= _navigator_priv->get_takeoff_acceptance_radius()) {
+			if (dist >= 0.0f && dist <= _navigator_priv->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
 		} else {

src/modules/navigator/navigator.h

@@ -115,7 +115,7 @@ public:
 	Geofence&	get_geofence() { return _geofence; }
 	bool		get_can_loiter_at_sp() { return _can_loiter_at_sp; }
 	float		get_loiter_radius() { return _param_loiter_radius.get(); }
-	float		get_takeoff_acceptance_radius() { return _param_takeoff_acceptance_radius.get(); }
+	float		get_acceptance_radius() { return _param_acceptance_radius.get(); }
 	int		get_mavlink_fd() { return _mavlink_fd; }
 
 private:
@@ -165,7 +165,7 @@ private:
 	bool		_update_triplet;		/**< flags if position SP triplet needs to be published */
 
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
-	control::BlockParamFloat _param_takeoff_acceptance_radius;	/**< acceptance for takeoff */
+	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
 	/**
 	 * Retrieve global position
 	 */

src/modules/navigator/navigator_main.cpp

@@ -123,7 +123,7 @@ Navigator::Navigator() :
 	_rtl(this, "RTL"),
 	_update_triplet(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
-	_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
+	_param_acceptance_radius(this, "ACC_RAD")
 {
 	/* Create a list of our possible navigation types */
 	_navigation_mode_array[0] = &_mission;

src/modules/navigator/navigator_params.c

@@ -55,12 +55,12 @@
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
 
 /**
- * Takeoff Acceptance Radius (FW only)
+ * Acceptance Radius
  *
- * Acceptance radius for fixedwing.
+ * Default acceptance radius, overridden by acceptance radius of waypoint if set.
  *
  * @unit meters
  * @min 1.0
  * @group Mission
  */
-PARAM_DEFINE_FLOAT(NAV_TF_ACC_RAD, 25.0f);
+PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f);

src/modules/navigator/rtl.cpp

@@ -61,8 +61,7 @@ RTL::RTL(Navigator *navigator, const char *name) :
 	_rtl_state(RTL_STATE_NONE),
 	_param_return_alt(this, "RETURN_ALT"),
 	_param_descend_alt(this, "DESCEND_ALT"),
-	_param_land_delay(this, "LAND_DELAY"),
-	_param_acceptance_radius(this, "ACCEPT_RAD")
+	_param_land_delay(this, "LAND_DELAY")
 {
 	/* load initial params */
 	updateParams();
@@ -147,7 +146,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = true;
@@ -178,7 +177,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = true;
@@ -198,7 +197,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = false;
@@ -220,7 +219,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = autoland;
@@ -246,7 +245,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LAND;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = true;
@@ -265,7 +264,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_IDLE;
-		_mission_item.acceptance_radius = _param_acceptance_radius.get();
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
 		_mission_item.pitch_min = 0.0f;
 		_mission_item.autocontinue = true;

src/modules/navigator/rtl.h

@@ -105,7 +105,6 @@ private:
 	control::BlockParamFloat _param_return_alt;
 	control::BlockParamFloat _param_descend_alt;
 	control::BlockParamFloat _param_land_delay;
-	control::BlockParamFloat _param_acceptance_radius;
 };
 
 #endif

src/modules/navigator/rtl_params.c

@@ -96,15 +96,3 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
-
-/**
- * RTL acceptance radius
- *
- * Acceptance radius for waypoints set for RTL
- *
- * @unit meters
- * @min 1
- * @max
- * @group RTL
- */
-PARAM_DEFINE_FLOAT(RTL_ACCEPT_RAD, 25.0f);