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Showing 1 changed file with 4 additions and 1 deletion.
5 changes: 4 additions & 1 deletion src/modules/navigator/mission_block.cpp
Original file line number Diff line number Diff line change
@@ -224,7 +224,10 @@ MissionBlock::is_mission_item_reached()
* Therefore the item is marked as reached once the system reaches the loiter
* radius (+ some margin). Time inside and turn count is handled elsewhere.
*/
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f)
float radius = (fabsf(_mission_item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius();

if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(radius) * 1.2f)
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {

_waypoint_position_reached = true;

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