From daee5eeefa6f3768dd11efa3768a2b1c8711cf5e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Dec 2015 21:24:58 +0100 Subject: [PATCH] Mission handling: Use default acceptance radius in case its set to zero --- src/modules/navigator/mission_block.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index b230bcab3f..80d8b3df3d 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -143,7 +143,14 @@ MissionBlock::is_mission_item_reached() } } else { /* for normal mission items used their acceptance radius */ - if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.acceptance_radius)) { + float mission_acceptance_radius = _navigator->get_acceptance_radius(_mission_item.acceptance_radius); + + /* if set to zero use the default instead */ + if (mission_acceptance_radius < 0.001f) { + mission_acceptance_radius = _navigator->get_acceptance_radius(); + } + + if (dist >= 0.0f && dist <= mission_acceptance_radius) { _waypoint_position_reached = true; } }