Use altitude acc rad

9 years ago · e6834579e5
1 changed files with 2 additions and 2 deletions
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@ -165,9 +165,9 @@ MissionBlock::is_mission_item_reached()
				@@ -165,9 +165,9 @@ MissionBlock::is_mission_item_reached()

 		if ((_mission_item.nav_cmd == NAV_CMD_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)
 			&& _navigator->get_vstatus()->is_rotary_wing) {
-			/* require only altitude for takeoff for multicopter, do not use waypoint acceptance radius */
+			/* require only altitude for takeoff for multicopter */
 			if (_navigator->get_global_position()->alt >
-					altitude_amsl - _navigator->get_acceptance_radius()) {
+					altitude_amsl - _navigator->get_altitude_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
 		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {