navigator : Waypoint acceptance radius usable for all vehicle type

[sbtjagu]

Solved Problem

I wanted to make it possible to use the acceptance radius defined by a waypoint for the new ackermann module, and found that there was a condition in navigator module allowing it only for rotary wing vehicles.

Solution

• Add a new parameter NAV_USE_WP_RAD
• if parameter NAV_USE_WP_RAD is enabled, use the max between waypoint acceptance radius and NAV_ACC_RAD (NAV_ACC_RAD acting as the minimal acceptance radius usable)
• NAV_USE_WP_RAD disabled by default, and enabled in airframes of rotary wing vehicles to make it works as before.

Changelog Entry

For release notes:

New parameter: NAV_USE_WP_RAD

Test coverage

• SITL with x500 with NAV_USE_WP_RAD enabled and disabled