From d53b17043cd1caa2d554687b130e316407b033fb Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 16 Feb 2023 13:28:49 +0300 Subject: [PATCH] Revert "fixed land requirement for VTOL" This reverts commit 741fbb931ded7706776d137adb65ea78f0a68ed2. --- .../navigator/MissionFeasibility/FeasibilityChecker.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index 61dcc12605..cef803fff2 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -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; }