From 585c92796d30058845b8e62ea13adb25f0b2181c Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 13 Sep 2024 12:35:50 +0200 Subject: [PATCH] mission_base: do not make terrain avoidance check when mission is not run anymore --- src/modules/navigator/mission_block.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 84d95ae5a3..c2b17bbedb 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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