From 6c6142ba79eda5d34080f1ca0bb60fd2f38a9046 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 13:25:23 +0100 Subject: [PATCH] MissionFeasibiltyChecker: Do not delete uorb data on reset. --- .../MissionFeasibility/FeasibilityChecker.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index ef829d62f5..b27ef969aa 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -46,13 +46,6 @@ FeasibilityChecker::FeasibilityChecker() : void FeasibilityChecker::reset() { - - _is_landed = false; - _home_alt_msl = NAN; - _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _vehicle_type = VehicleType::RotaryWing; - _mission_validity_failed = false; _takeoff_failed = false; _land_pattern_validity_failed = false; @@ -86,10 +79,16 @@ void FeasibilityChecker::updateData() if (home.valid_hpos) { _home_lat_lon = matrix::Vector2d(home.lat, home.lon); + + } else { + _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); } if (home.valid_alt) { _home_alt_msl = home.alt; + + } else { + _home_alt_msl = NAN; } }