ObstacleAvoidance: refactor check on z mission progression #12433
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jkflying
approved these changes
Jul 9, 2019
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I put this commit together with #12349 to avoid conficts |
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Refactors the mission progession check on the z component. Right now the check excludes takeoff points because the condition of being inside the xy acceptance radius but more than z acceptance away is always true. However this condition happens not only at takeoff. The refactor uses an hysteresis on the z distance to the goal to judge is the mission is progressing.