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mission_base: do not make terrain avoidance check when mission is not run anymore

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Konrad
2024-09-13 12:35:50 +02:00
committed by KonradRudin
parent 4ba4b340cc
commit 585c92796d
1 changed files with 1 additions and 0 deletions
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src/modules/navigator/mission_block.cpp
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@@ -1030,6 +1030,7 @@ void MissionBlock::updateAltToAvoidTerrainCollisionAndRepublishTriplet(mission_i
if (_navigator->get_nav_min_gnd_dist_param() > FLT_EPSILON && _mission_item.nav_cmd != NAV_CMD_LAND
&& _mission_item.nav_cmd != NAV_CMD_VTOL_LAND && _mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION
&& _mission_item.nav_cmd != NAV_CMD_IDLE
&& _navigator->get_local_position()->dist_bottom_valid
&& _navigator->get_local_position()->dist_bottom < _navigator->get_nav_min_gnd_dist_param()
&& _navigator->get_local_position()->vz > FLT_EPSILON