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Revert "fixed land requirement for VTOL"

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This reverts commit 741fbb931d.
This commit is contained in:
Roman Bapst
2023-02-16 13:28:49 +03:00
committed by GitHub
parent 9ce22b19dd
commit d53b17043c
1 changed files with 1 additions and 4 deletions
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
+1 -4
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@@ -84,7 +84,6 @@ void FeasibilityChecker::updateData()
if (_home_pos_sub.updated()) {
_home_pos_sub.update(&home);
if (home.valid_hpos) {
_home_lat_lon = matrix::Vector2d(home.lat, home.lon);
}
@@ -488,15 +487,13 @@ bool FeasibilityChecker::checkFixedWingLanding(mission_item_s &mission_item, con
}
}
if (land_start_found && (_do_land_start_index > _landing_approach_index)) {
if (land_start_found && (!_landing_valid || (_do_land_start_index > _landing_approach_index))) {
mavlink_log_critical(_mavlink_log_pub, "Mission rejected: invalid land start.\t");
events::send(events::ID("navigator_mis_invalid_land"), {events::Log::Error, events::LogInternal::Info},
"Mission rejected: invalid land start");
return false;
}
_landing_valid = _landing_approach_index >= 0;
/* No landing waypoints or no waypoints */
return true;
}