Aug 6, 2019 · Aug 6, 2019
diff --git a/src/Control/UAV/Ardupilot/Task.cpp b/src/Control/UAV/Ardupilot/Task.cpp
        float alt;
        //! LoiterHere (default) radius
        float lradius;
        //! Radius sent to AP during Goto, to come close
        float lradius_min;
        //! Loitering tolerance
        int ltolerance;
        //! Has Power Module
          .units(Units::Meter)
          .description("Loiter radius used in LoiterHere (idle)");

          param("Minimum loiter radius", m_args.lradius_min)
          .defaultValue("3")
          .units(Units::Meter)
          .description("Radius sent to AP during Goto, to come close");

          param("Loitering tolerance", m_args.ltolerance)
          .defaultValue("10")
          .units(Units::Meter)
          //! Setting loiter radius parameter
          if (m_vehicle_type != VEHICLE_COPTER)
          {
            //Set WP_LOITER_RAD to the desired radius if we are loitering
            //if not, set it small so we will come close to the WP (before AP will start a loiter)
            m_desired_radius = path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : m_args.lradius_min;
            mavlink_msg_param_set_pack(255, 0, &msg,
                                       m_sysid, //! target_system System ID
                                       0, //! target_component Component ID
                                       "WP_LOITER_RAD", //! Parameter name
 path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : 10, //! Parameter value
 m_desired_radius, //! Parameter value
                                       MAV_PARAM_TYPE_INT16); //! Parameter type

            n = mavlink_msg_to_send_buffer(buf, &msg);
            sendData(buf, n);
          }
          m_desired_radius = (uint16_t) path->lradius;
          else
          {
            m_desired_radius = (uint16_t) path->lradius;
          }

          float alt = (path->end_z_units & IMC::Z_NONE) ? m_args.alt : (float)path->end_z;
Original file line number	Diff line number	Diff line change
Expand Up		@@ -132,6 +132,8 @@ namespace Control
		float alt;
		//! LoiterHere (default) radius
		float lradius;
		//! Radius sent to AP during Goto, to come close
		float lradius_min;
		//! Loitering tolerance
		int ltolerance;
		//! Has Power Module
Expand DownExpand Up		@@ -313,6 +315,11 @@ namespace Control
		.units(Units::Meter)
		.description("Loiter radius used in LoiterHere (idle)");

		param("Minimum loiter radius", m_args.lradius_min)
		.defaultValue("3")
		.units(Units::Meter)
		.description("Radius sent to AP during Goto, to come close");

		param("Loitering tolerance", m_args.ltolerance)
		.defaultValue("10")
		.units(Units::Meter)
Expand DownExpand Up		@@ -975,17 +982,23 @@ namespace Control
		//! Setting loiter radius parameter
		if (m_vehicle_type != VEHICLE_COPTER)
		{
		//Set WP_LOITER_RAD to the desired radius if we are loitering
		//if not, set it small so we will come close to the WP (before AP will start a loiter)
		m_desired_radius = path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : m_args.lradius_min;
		mavlink_msg_param_set_pack(255, 0, &msg,
		m_sysid, //! target_system System ID
		0, //! target_component Component ID
		"WP_LOITER_RAD", //! Parameter name
		path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : 10, //! Parameter value
		m_desired_radius, //! Parameter value
		MAV_PARAM_TYPE_INT16); //! Parameter type

		n = mavlink_msg_to_send_buffer(buf, &msg);
		sendData(buf, n);
		}
		m_desired_radius = (uint16_t) path->lradius;
		else
		{
		m_desired_radius = (uint16_t) path->lradius;
		}

		float alt = (path->end_z_units & IMC::Z_NONE) ? m_args.alt : (float)path->end_z;

Expand Down