From d59ba2032f486aedbe29d53c21ba24077eb02fee Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sat, 28 Nov 2020 16:18:33 +0100 Subject: [PATCH] Handle takeoff waypoints for rover Fix --- src/modules/navigator/mission_block.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index c8942e9cf8..355fa00f97 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -174,6 +174,13 @@ MissionBlock::is_mission_item_reached() _waypoint_position_reached = true; } + } else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF + && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { + /* for takeoff mission items use the parameter for the takeoff acceptance radius */ + if (dist_xy >= 0.0f && dist_xy <= _navigator->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->get_acceptance_radius()