From 80c8e42de339f8cd57d98b17e8baea58f383f058 Mon Sep 17 00:00:00 2001 From: Balduin Date: Mon, 8 Dec 2025 14:52:49 +0100 Subject: [PATCH] mission_block: replace idle with landed check which is the alternative solution mentioned in the original PR: https://github.com/PX4/PX4-Autopilot/pull/23674 --- src/modules/navigator/mission_block.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 077cecb660..2080202ad7 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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