Navigator: VTOL only apply acceptance radius calculation for FW part …

…of back transition (#9519)
PX4 · May 23, 2018 · 04cc5c5 · 04cc5c5
1 parent 222a91c
commit 04cc5c5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -287,7 +287,7 @@ MissionBlock::is_mission_item_reached()
 			}
 
 			/* for vtol back transition calculate acceptance radius based on time and ground speed */
-			if (_mission_item.vtol_back_transition) {
+			if (_mission_item.vtol_back_transition && !_navigator->get_vstatus()->is_rotary_wing) {
 
 				float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx +
 						       _navigator->get_local_position()->vy * _navigator->get_local_position()->vy);