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fixed land requirement for VTOL

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2023-02-16 11:28:41 +01:00
committed by Roman Bapst
parent 6e07af959f
commit 741fbb931d
1 changed files with 4 additions and 1 deletions
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
+4 -1
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@@ -84,6 +84,7 @@ void FeasibilityChecker::updateData()
if (_home_pos_sub.updated()) { if (_home_pos_sub.updated()) {
_home_pos_sub.update(&home); _home_pos_sub.update(&home);
if (home.valid_hpos) { if (home.valid_hpos) {
_home_lat_lon = matrix::Vector2d(home.lat, home.lon); _home_lat_lon = matrix::Vector2d(home.lat, home.lon);
} }
@@ -487,13 +488,15 @@ bool FeasibilityChecker::checkFixedWingLanding(mission_item_s &mission_item, con
} }
} }
if (land_start_found && (!_landing_valid || (_do_land_start_index > _landing_approach_index))) { if (land_start_found && (_do_land_start_index > _landing_approach_index)) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: invalid land start.\t"); mavlink_log_critical(_mavlink_log_pub, "Mission rejected: invalid land start.\t");
events::send(events::ID("navigator_mis_invalid_land"), {events::Log::Error, events::LogInternal::Info}, events::send(events::ID("navigator_mis_invalid_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: invalid land start"); "Mission rejected: invalid land start");
return false; return false;
} }
_landing_valid = _landing_approach_index >= 0;
/* No landing waypoints or no waypoints */ /* No landing waypoints or no waypoints */
return true; return true;
} }