feat(navigator): Mission feasibility check: do not require takeoff waypoint when in-air

Signed-off-by: Silvan <silvan@auterion.com>

src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp

@@ -540,7 +540,7 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 		break;
 
 	case 1:
-		result = _has_takeoff;
+		result = _has_takeoff || !_is_landed;
 
 		if (!result) {
 			mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Takeoff waypoint required.\t");
@@ -563,7 +563,7 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 		break;
 
 	case 3:
-		result = _has_takeoff && _landing_valid;
+		result = (_has_takeoff || !_is_landed) && _landing_valid;
 
 		if (!result) {
 			mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Takeoff or Landing item missing.\t");
@@ -574,7 +574,18 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 		break;
 
 	case 4:
-		result = hasMissionBothOrNeitherTakeoffAndLanding();
+		if (_is_landed) {
+			result = hasMissionBothOrNeitherTakeoffAndLanding();
+
+		} else {
+			result = _landing_valid;
+
+			if (!result) {
+				mavlink_log_critical(_mavlink_log_pub, "Mission rejected: Landing waypoint/pattern required.");
+				events::send(events::ID("feasibility_mis_type_4_in_air"), {events::Log::Error, events::LogInternal::Info},
+					     "Mission rejected: Landing waypoint/pattern required");
+			}
+		}
 
 		break;
 

src/modules/navigator/mission_params.c

@@ -62,6 +62,7 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
  *
  * Specifies if a mission has to contain a takeoff and/or mission landing.
  * Validity of configured takeoffs/landings is checked independently of the setting here.
+ * Takeoff requirement is dropped when in-air.
  *
  * @value 0 No requirements
  * @value 1 Require a takeoff