navigator fix FW loiter to alt tangent exit (PX4#11576)

- fixes PX4#11317
Manakoy · Mar 4, 2019 · 468fb53 · 468fb53
1 parent fc7c7ac
commit 468fb53
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -328,9 +328,9 @@ MissionBlock::is_mission_item_reached()
 
 	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
 
-		if ((_navigator->get_vstatus()->is_rotary_wing
-		     || (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading))
-		    && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) {
+		if ((_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw)))
+		    || ((_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) && _mission_item.force_heading
+			&& PX4_ISFINITE(_mission_item.yaw))) {
 
 			/* check course if defined only for rotary wing except takeoff */
 			float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(