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navigator_main: use the altitude acceptance radius from the pos control if

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it is greater than the one in the mission item
This commit is contained in:
Martina
2018-08-07 11:35:58 +02:00
committed by Lorenz Meier
parent b8e46d3323
commit fffb479edf
1 changed files with 10 additions and 1 deletions
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11
src/modules/navigator/navigator_main.cpp
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@@ -847,7 +847,16 @@ Navigator::get_default_altitude_acceptance_radius()
return _param_fw_alt_acceptance_radius.get();
} else {
return _param_mc_alt_acceptance_radius.get();
float alt_acceptance_radius = _param_mc_alt_acceptance_radius.get();
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance_radius > alt_acceptance_radius) {
alt_acceptance_radius = pos_ctrl_status.altitude_acceptance_radius;
}
return alt_acceptance_radius;
}
}