fixed decision_simple_waypoint.py: removed redundancies and used acceptance radius

Author: Teighan Miller

modules/bootcamp/decision_simple_waypoint.py

@@ -67,24 +67,17 @@ def run(
         # ============
 
         # If the drone is halted and not at the destination, move the drone to destination
-        if report.status == drone_status.DroneStatus.HALTED and report.destination != self.waypoint:
-            command = commands.Command.create_set_relative_destination_command(
-                self.waypoint.location_x, self.waypoint.location_y
-            )
-        # if the drone is at the destination and halted land the drone
-        elif (
-            report.status == drone_status.DroneStatus.HALTED and report.destination == self.waypoint
-        ):
-            command = commands.Command.create_land_command()
-
-        # Case handling to ensure that the drone tries to land again if it lands outside of the acceptance radius
-        if (
-            report.status == drone_status.DroneStatus.LANDED
-            and (report.position - report.destination) > self.acceptance_radius
-        ):
-            command = commands.Command.create_set_relative_destination_command(
-                self.waypoint.location_x, self.waypoint.location_y
-            )
+        if report.status == drone_status.DroneStatus.HALTED:
+            if (report.destination - self.waypoint) < self.acceptance_radius:
+                command = commands.Command.create_set_relative_destination_command(
+                    abs(self.waypoint.location_x), abs(self.waypoint.location_y)
+                )
+            # if the drone is at the destination and halted land the drone
+            elif (
+                (report.destination - self.waypoint) < self.acceptance_radius
+            ):
+                command = commands.Command.create_land_command()
+
         # Do something based on the report and the state of this class...
 
         # ============