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Reject mission when starting with LAND and vehicle is landed

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This commit is contained in:
sander
2016-01-24 11:19:00 +01:00
committed by Lorenz Meier
parent 759b107468
commit 9a8e94bb68
3 changed files with 23 additions and 8 deletions
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src/modules/navigator/mission.cpp
+4 -2
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@@ -264,7 +264,8 @@ Mission::update_offboard_mission()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->get_mission_result()->valid = !failed;
_navigator->increment_mission_instance_count();
@@ -848,7 +849,8 @@ Mission::check_mission_valid()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();