Orbit approach fixes

src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp

@@ -94,6 +94,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 
 	// perpendicularly approach the orbit circle again when new parameters get commanded
 	_in_circle_approach = true;
+	_circle_approach_line.reset();
 
 	return ret;
 }
@@ -126,6 +127,10 @@ bool FlightTaskOrbit::setRadius(float r)
 		_v = sign(_v) * sqrtf(_acceleration_max * r);
 	}
 
+	if (fabs(_r - r) > FLT_EPSILON) {
+		_circle_approach_line.reset();
+	}
+
 	_r = r;
 	return true;
 }

src/lib/flight_tasks/tasks/Utility/StraightLine.cpp

@@ -76,7 +76,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
 
 	// check if we plan to go against the line direction which indicates we reached the goal
 	if (start_to_end * vehicle_to_end < 0) {
-		end_reached = true;
+		_end_reached = true;
 	}
 }
 
@@ -85,6 +85,6 @@ void StraightLine::setLineFromTo(const Vector3f &start, const Vector3f &end)
 	if (PX4_ISFINITE(start.norm_squared()) && PX4_ISFINITE(end.norm_squared())) {
 		_start = start;
 		_end = end;
-		end_reached = false;
+		_end_reached = false;
 	}
 }

src/lib/flight_tasks/tasks/Utility/StraightLine.hpp

@@ -66,7 +66,9 @@ class StraightLine
 	 *
 	 * @return false when on the way from start to end, true when end was reached
 	 */
-	bool isEndReached() { return end_reached; }
+	bool isEndReached() const { return _end_reached; }
+
+	void reset() { _end_reached = true; }
 
 private:
 	const matrix::Vector3f &_position; /**< vehicle position (dependency injection) */
@@ -75,5 +77,5 @@ class StraightLine
 	matrix::Vector3f _end; /**< End point of the straight line */
 	float _speed = 1.f; /**< desired speed between accelerating and decelerating */
 
-	bool end_reached = true; /**< Flag to lock further movement when end is reached */
+	bool _end_reached = true; /**< Flag to lock further movement when end is reached */
 };