From 926e7878afc6ce804b0b4c097fbf94d405841f42 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 11 Apr 2024 10:39:49 +0200 Subject: [PATCH] RT: only chose mission RTL if mission is valid Signed-off-by: Silvan Fuhrer --- src/modules/navigator/rtl.cpp | 3 ++- src/modules/navigator/rtl.h | 5 +++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index bfa5d486be..2b6bd55b3f 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -617,7 +617,8 @@ void RTL::parameters_update() bool RTL::hasMissionLandStart() const { - return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0; + return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0 + && _navigator->get_mission_result()->valid; } bool RTL::hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index ac6a5a75d7..e7b720bd61 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -97,6 +97,11 @@ private: }; private: + + /** + * @brief Check mission landing validity + * @return true if mission has a land start, a land and is valid + */ bool hasMissionLandStart() const; /**