|
|
|
@ -1055,7 +1055,7 @@ bool Plane::verify_loiter_heading(bool init)
@@ -1055,7 +1055,7 @@ bool Plane::verify_loiter_heading(bool init)
|
|
|
|
|
return true; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
if (get_distance(next_WP_loc, next_nav_cmd.content.location) < fabsf(aparm.loiter_radius)) { |
|
|
|
|
if (get_distance(next_WP_loc, next_nav_cmd.content.location) < abs(aparm.loiter_radius)) { |
|
|
|
|
/* Whenever next waypoint is within the loiter radius,
|
|
|
|
|
maintaining loiter would prevent us from ever pointing toward the next waypoint. |
|
|
|
|
Hence break out of loiter immediately |
|
|
|
|