From 2453de9e4996924447d8d0970004efc69ad1737b Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 10 Feb 2016 13:11:25 -0800
Subject: [PATCH] Default acceptance radius to 0

It is also no longer a user visible field
---
 src/MissionManager/MavCmdInfoCommon.json | 6 ------
 src/MissionManager/MissionItem.cc        | 6 ++++++
 src/MissionManager/MissionItemTest.cc    | 2 --
 3 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 2166449ed..d0c722e22 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -35,12 +35,6 @@
                 "units":            "seconds",
                 "default":          0,
                 "decimalPlaces":    0
-            },
-            "param2": {
-                "label":            "Accept radius:",
-                "units":            "meters",
-                "default":          3.0,
-                "decimalPlaces":    2
             }
         },
         {
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index 938ae79a6..314645ea5 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -821,6 +821,12 @@ void MissionItem::setDefaultsForCommand(void)
         }
     }
 
+    if (command == MAV_CMD_NAV_WAYPOINT) {
+        // We default all acceptance radius to 0. This allows flight controller to be in control of
+        // accept radius.
+        setParam2(0);
+    }
+
     setAutoContinue(true);
     setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
     setRawEdit(false);
diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
index 0acba5345..74c650d58 100644
--- a/src/MissionManager/MissionItemTest.cc
+++ b/src/MissionManager/MissionItemTest.cc
@@ -38,7 +38,6 @@ const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
 const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
     { "Altitude:",      70.1234567 },
     { "Hold:",          10.1234567 },
-    { "Accept radius:", 20.1234567 },
 };
 
 const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
@@ -189,6 +188,5 @@ void MissionItemTest::_testDefaultValues(void)
 
     item.setCommand(MAV_CMD_NAV_WAYPOINT);
     item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    QCOMPARE(item.param2(), 3.0);
     QCOMPARE(item.param7(), MissionItem::defaultAltitude);
 }
-- 
2.22.0