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mission_block: replace idle with landed check

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which is the alternative solution mentioned in the original PR: https://github.com/PX4/PX4-Autopilot/pull/23674
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Balduin
2026-01-14 13:59:45 +01:00
parent db8e31eaec
commit 80c8e42de3
1 changed files with 1 additions and 3 deletions
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src/modules/navigator/mission_block.cpp
+1 -3
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@@ -981,9 +981,7 @@ 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
// this one was very specifically put here: https://github.com/PX4/PX4-Autopilot/pull/23674
// do we need some other way to encode "mission finisihed"?
&& !_navigator->get_land_detected()->landed
&& _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