AC_WPNav: we are at estination regardless of OA state

peterbarker · peterbarker · commit 6ab131248731 · 2025-05-01T13:47:12.000+10:00
diff --git a/libraries/AC_WPNav/AC_WPNav_OA.cpp b/libraries/AC_WPNav/AC_WPNav_OA.cpp
@@ -65,7 +65,7 @@ int32_t AC_WPNav_OA::get_wp_bearing_to_destination() const
 /// true when we have come within RADIUS cm of the waypoint
 bool AC_WPNav_OA::reached_wp_destination() const
 {
-    return (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) && AC_WPNav::reached_wp_destination();
+    return AC_WPNav::reached_wp_destination();
 }
 
 /// update_wpnav - run the wp controller - should be called at 100hz or higher

Original file line number	Diff line number	Diff line change
`@@ -65,7 +65,7 @@ int32_t AC_WPNav_OA::get_wp_bearing_to_destination() const`
`65`	`65`	`/// true when we have come within RADIUS cm of the waypoint`
`66`	`66`	`bool AC_WPNav_OA::reached_wp_destination() const`
`67`	`67`	`{`
`68`		`- return (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) && AC_WPNav::reached_wp_destination();`
	`68`	`+ return AC_WPNav::reached_wp_destination();`
`69`	`69`	`}`
`70`	`70`
`71`	`71`	`/// update_wpnav - run the wp controller - should be called at 100hz or higher`