From 93ed9109772bed0719f75394f8129cbe24bac1f2 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Fri, 5 Apr 2024 16:31:49 +0200
Subject: [PATCH] FeasibilityChecks: only require both or neither TO/LND when
 landed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 .../navigator/MissionFeasibility/FeasibilityChecker.cpp   | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
index b27ef969aa..c684f0119d 100644
--- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
+++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
@@ -587,7 +587,10 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 		break;
 
 	case 5:
-		if (!_is_landed && !_has_vtol_approach) {
+		if (_is_landed) {
+			result = hasMissionBothOrNeitherTakeoffAndLanding();
+
+		} else if (!_has_vtol_approach) {
 			result = _landing_valid;
 
 			if (!result) {
@@ -595,9 +598,6 @@ bool FeasibilityChecker::checkTakeoffLandAvailable()
 				events::send(events::ID("feasibility_mis_in_air_landing_req"), {events::Log::Error, events::LogInternal::Info},
 					     "Mission rejected: Landing waypoint/pattern required");
 			}
-
-		} else {
-			result = hasMissionBothOrNeitherTakeoffAndLanding();
 		}
 
 		break;