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MissionFeasibility: add combined takeoff/landing requirement check

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Replace the existing check for the availability of a takeoff mission item with a combined
check for takeoff and landing item (or landing pattern). New param MIS_TKO_LAND_REQ
can be set to require only a takeoff, only a landing, both takeoff and landing, and
both or none. The latter is meant to be set if is e.g. deemed unsafe to start a flight
through a Takeoff WP without though defining a Landing - as then in case of a RTL the
vehicle doesn't follow a pre-defined path but instead only can do default RTL that especially
for FW and VTOL isn't always safe.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-21 18:03:21 +01:00
parent cce3b43b4f
commit 4cd7dfa162
7 changed files with 144 additions and 115 deletions
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src/modules/navigator/mission.cpp
+1 -2
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@@ -1743,8 +1743,7 @@ Mission::check_mission_valid(bool force)
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(_mission,
_param_mis_dist_1wp.get(),
_param_mis_dist_wps.get(),
_navigator->mission_landing_required());
_param_mis_dist_wps.get());
_navigator->get_mission_result()->seq_total = _mission.count;
_navigator->increment_mission_instance_count();